ISSBallInTube.cpp

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 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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    or Technical University of Darmstadt, nor the names of its contributors may
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#include "ISSBallInTube.h"

#include <Rcs_macros.h>
#include <Rcs_typedef.h>

namespace Rcs
{

ISSBallInTube::ISSBallInTube(RcsGraph* graph, bool fixedInitState) : InitStateSetter(graph), fixedInitState(fixedInitState)
{
    // Grab direct references to the used bodies
    platform = RcsGraph_getBodyByName(graph, "ImetronPlatform");
    RCHECK(platform);
    rail = RcsGraph_getBodyByName(graph, "RailBot");
    RCHECK(rail);
}

ISSBallInTube::~ISSBallInTube()
{
    // Nothing to destroy
}

unsigned int ISSBallInTube::getDim() const
{
    return 4;  // 3 base, 1 rail
}

void ISSBallInTube::getMinMax(double* min, double* max) const
{
    min[0] = -0.2;  // base_x [m]
    max[0] = +0.2;
    min[1] = -0.05;  // base_y [m]
    max[1] = +0.05;
    min[2] = RCS_DEG2RAD(-5.);  // base_theta [rad]
    max[2] = RCS_DEG2RAD(5.);
    min[3] = 0.8; // rail_z [m]
    max[3] = 0.9;
}

std::vector<std::string> ISSBallInTube::getNames() const
{
    return {"base_x", "base_y", "base_theta", "rail_z"};
}

void ISSBallInTube::applyInitialState(const MatNd* initialState)
{
    bool b0, b1, b2, b3;
    
    // Set the position to the box' rigid body joints directly in global world coordinates
    if (fixedInitState) {
        b0 = RcsGraph_setJoint(graph, "DofBaseX", -0.2);
        b1 = RcsGraph_setJoint(graph, "DofBaseY", 0.);
        b2 = RcsGraph_setJoint(graph, "DofBaseThZ", 0.);
        b3 = RcsGraph_setJoint(graph, "DofChestZ", 0.85);
    }
    else {
        b0 = RcsGraph_setJoint(graph, "DofBaseX", initialState->ele[0]);
        b1 = RcsGraph_setJoint(graph, "DofBaseY", initialState->ele[1]);
        b2 = RcsGraph_setJoint(graph, "DofBaseThZ", initialState->ele[2]);
        b3 = RcsGraph_setJoint(graph, "DofChestZ", initialState->ele[3]);
    }
    
    if (!(b0 && b1 && b2 && b3)) {
        throw std::invalid_argument("Setting graph failed for at least one of the joints!");
    }
    
    // Update the forward kinematics
    RcsGraph_setState(graph, graph->q, graph->q_dot);
}

} /* namespace Rcs */