ISSBallOnPlate.h

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 Technical University of Darmstadt.
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#ifndef _ISSBALLONPLATE_H_
#define _ISSBALLONPLATE_H_

#include "InitStateSetter.h"

namespace Rcs
{

/**
 * Initial state setter for the ball-on-plate environment.
 * The initial state consists of the x and y position of the ball relative to the plate center.
 */
class ISSBallOnPlate : public InitStateSetter
{
public:
    /**
     * Constructor.
     * The passed graph must contain two bodies named "Ball" and "Plate".
     * @param graph graph to set the state on
     */
    ISSBallOnPlate(RcsGraph* graph);
    
    virtual ~ISSBallOnPlate();
    
    unsigned int getDim() const override;
    
    void getMinMax(double* min, double* max) const override;
    
    virtual std::vector<std::string> getNames() const;
    
    void applyInitialState(const MatNd* initialState) override;

private:
    RcsBody* ball;
    RcsBody* plate;
    double plateWidth;
    double plateHeight;
};
    
} /* namespace Rcs */

#endif /* _ISSBALLONPLATE_H_ */