AMNormalized.h

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#ifndef _AMNORMALIZED_H_
#define _AMNORMALIZED_H_

#include "ActionModel.h"

namespace Rcs
{

/**
 * Wraps another action model to accept normalized action values in the range [-1, 1].
 * The passed action values are denormalized and then passed to the wrapped action model.
 */
class AMNormalized : public ActionModel
{
private:
    // Wrapped action model
    ActionModel* wrapped;
    // Scale factor for every action value
    MatNd* scale;
    // Shift for every action value, applied after scale.
    MatNd* shift;

public:
    AMNormalized(ActionModel* wrapped);
    
    virtual ~AMNormalized();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones.
    RCSPYSIM_NOCOPY_NOMOVE(AMNormalized)
    
    virtual ActionModel* clone(RcsGraph* newGraph) const;
    
    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;
    
    virtual ActionModel* getWrappedActionModel() const;
};

} /* namespace Rcs */

#endif /* _AMNORMALIZED_H_ */