AMIKControllerActivation.h

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#ifndef _AMIKCONTROLLERACTIVATION_H_
#define _AMIKCONTROLLERACTIVATION_H_

#include <TaskGenericIK.h>
#include "../config/PropertySource.h"
#include "ActionModelIK.h"

namespace Rcs
{

/*! Action model controlling the activations of multiple tasks. Each task is defined by a Rcs IK controller task.
 * 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 AMIKControllerActivation : public AMIKGeneric
{
public:
    
    /*! Constructor
     * @param[in] tcm     Mode that determines how the different tasks a.k.a. movement primitives are combined
     */
    explicit AMIKControllerActivation(RcsGraph* graph, TaskCombinationMethod tcm);
    
    virtual ~AMIKControllerActivation();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones. RCSPYSIM_NOCOPY_NOMOVE(AMControllerActivation)
    
    //! Add Rcs controller tasks that are always active. Do this after adding the regular tasks.
    void addAlwaysActiveTask(Task* task);
    
    //! Get the number of tasks multiplied by their individual dimension, owned by the action model, except the always active tasks
    virtual unsigned int getDim() const;
    
    virtual void getMinMax(double* min, double* max) const;
    
    virtual std::vector<std::string> getNames() const;
    
    void reset();
    
    virtual void computeCommand(MatNd* q_des, MatNd* q_dot_des, MatNd* T_des, const MatNd* action, double dt);
    
    virtual void getStableAction(MatNd* action) const;
    
    MatNd* getActivation() const;
    
    MatNd* getXdes() const;
    
    void setXdes(const MatNd* x_des);
    
    void setXdesFromTaskSpec(std::vector<PropertySource*>& taskSpec);
    
    static TaskCombinationMethod checkTaskCombinationMethod(std::string tcmName);
    
    const char* getTaskCombinationMethodName() const;

protected:
    //! The goal in task space
    MatNd* x_des;
    //! Store the cumulative number of task dimensions which are always active
    unsigned int dimAlwaysActiveTasks;
    //! 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 /* _AMIKCONTROLLERACTIVATION_H_ */