SmoothTask.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <functional>
 
namespace mc_tasks
{
 
template<typename objT>
struct SmoothTask
{
public:
  typedef std::function<void(double)> w_set_fn;
  typedef std::function<double(void)> w_get_fn;
  typedef std::function<void(const objT &)> obj_set_fn;
  typedef std::function<const objT(void)> obj_get_fn;
 
public:
  SmoothTask(w_set_fn w_set,
             w_get_fn w_get,
             obj_set_fn obj_set,
             obj_get_fn obj_get,
             double weight,
             const objT & obj,
             double percent);
 
  void update();
 
  void reset(double weight, const objT & obj, double percent);
 
public:
  w_set_fn w_set;
  w_get_fn w_get;
  obj_set_fn obj_set;
  obj_get_fn obj_get;
 
  double weight;
  objT obj;
 
  double stepW;
  objT stepO;
 
  unsigned int nrIter;
  unsigned int iter;
};
 
template<typename objT>
SmoothTask<objT>::SmoothTask(w_set_fn w_set,
                             w_get_fn w_get,
                             obj_set_fn obj_set,
                             obj_get_fn obj_get,
                             double weight,
                             const objT & obj,
                             double percent)
: w_set(w_set), w_get(w_get), obj_set(obj_set), obj_get(obj_get)
{
  reset(weight, obj, percent);
}
 
template<typename objT>
void SmoothTask<objT>::reset(double weight, const objT & obj, double percent)
{
  this->weight = weight;
  this->obj = obj;
 
  stepW = (weight - w_get()) * percent;
  stepO = (obj - obj_get()) * percent;
 
  nrIter = static_cast<unsigned int>(ceil(1 / percent));
  iter = 0;
}
 
template<typename objT>
void SmoothTask<objT>::update()
{
  if(iter < nrIter)
  {
    w_set(w_get() + stepW);
    obj_set(obj_get() + stepO);
    iter++;
  }
  else
  {
    obj_set(obj);
    w_set(weight);
  }
}
 
} // namespace mc_tasks