control_path_param_estimation.hpp

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#pragma once
 
#include <utility>
#include <vector>
 
#include "autotune/control/control_path.hpp"
#include "autotune/control/differential_evolution.hpp"
 
namespace libstp::autotune::control
{

class ControlPathParamEstimation final : public IDifferentialEvolutionRating
{
public:
    using MeasPoint = std::pair<double, double>;
 
    ControlPathParamEstimation(ControlPath&                  controlPath,
                               const std::vector<MeasPoint>& measData);

    std::vector<double> optimize(double limitMinParams,
                                 double limitMaxParams,
                                 bool   dither,
                                 int    maxNumSteps,
                                 double stepHeight,
                                 double stepTime,
                                 std::uint32_t seed = 0xC0FFEEu);

    double rateCandidate(const std::vector<double>& paramList) override;

    [[nodiscard]] double dt() const { return dt_; }

    void setStep(double stepHeight, double stepTime)
    {
        step_height_ = stepHeight;
        step_time_   = stepTime;
    }
 
private:
    double evaluate(const std::vector<double>& params,
                    double                     stepHeight,
                    double                     stepTime);
 
    ControlPath&           control_path_;
    std::vector<MeasPoint> meas_data_;
    double                 dt_{0};
    double                 step_height_{0};
    double                 step_time_{0};
};
 
} // namespace libstp::autotune::control