AMDynamicalSystemActivation.h

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#ifndef _AMDYNAMICALSYSTEMACTIVATION_H_
#define _AMDYNAMICALSYSTEMACTIVATION_H_

#include "ActionModel.h"
#include "DynamicalSystem.h"

namespace Rcs
{

/*! Action model controlling the activations of multiple tasks. Each task is defined by a DynamicalSystem.
 * For every task, there is one activation variable as part of the action space.
 * The activation is a value between 0 and 1, where 0 means to ignore the task
 * completely. The activation values do not need to sum to 1.
 */
class AMDynamicalSystemActivation : public ActionModel
{
public:
    
    /*! Constructor
     * @param[in] wrapped ActionModel defining the output space of the tasks (takes ownership)
     * @param[in] ds      List of dynamical systems (takes ownership)
     * @param[in] tcm     Mode that determines how the different tasks a.k.a. movement primitives are combined
     */
    explicit AMDynamicalSystemActivation(
        ActionModel* wrapped, std::vector<DynamicalSystem*> ds, TaskCombinationMethod tcm);
    
    virtual ~AMDynamicalSystemActivation();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones. RCSPYSIM_NOCOPY_NOMOVE(AMDynamicalSystemActivation)
    
    virtual ActionModel* clone(RcsGraph* newGraph) const;
    
    //! Get the number of DS, i.e. entries in the dynamicalSystems vector, owned by the action model
    virtual unsigned int getDim() const;
    
    virtual void getMinMax(double* min, double* max) const;
    
    virtual std::vector<std::string> getNames() const;
    
    virtual void computeCommand(MatNd* q_des, MatNd* q_dot_des, MatNd* T_des, const MatNd* action, double dt);
    
    virtual void reset();
    
    virtual void getStableAction(MatNd* action) const;
    
    Eigen::VectorXd getX() const;
    
    Eigen::VectorXd getXdot() const;
    
    virtual ActionModel* getWrappedActionModel() const;
    
    //! Get a vector of the owned dynamical systems.
    const std::vector<DynamicalSystem*>& getDynamicalSystems() const;
    
    MatNd* getActivation() const;
    
    static TaskCombinationMethod checkTaskCombinationMethod(std::string tcmName);
    
    const char* getTaskCombinationMethodName() const;

protected:
    //! Wrapped action model
    ActionModel* wrapped;
    //! List of dynamical systems
    std::vector<DynamicalSystem*> dynamicalSystems;
    //! Current state in task space
    Eigen::VectorXd x;
    //! Current velocity in task space
    Eigen::VectorXd x_dot;
    //! The activation resulting from the action and the task combination method (used for logging)
    MatNd* activation;
    //! Way to combine the tasks' contribution
    TaskCombinationMethod taskCombinationMethod;
};

} /* namespace Rcs */

#endif /* _AMDYNAMICALSYSTEMACTIVATION_H_ */