ISSBoxLifting.cpp

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#include "ISSBoxLifting.h"

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

namespace Rcs
{

ISSBoxLifting::ISSBoxLifting(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);
    link2R = RcsGraph_getBodyByName(graph, "lbr_link_2_R");
    RCHECK(link2R);
    box = RcsGraph_getBodyByName(graph, "Box");
    RCHECK(box);
}

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

unsigned int ISSBoxLifting::getDim() const
{
    return 6;  // 3 base, 1 rail, 1 LBR joints, 1 box
}

void ISSBoxLifting::getMinMax(double* min, double* max) const
{
    min[0] = 0.05;  // base_x [m]
    max[0] = 0.25;
    min[1] = -0.05;  // base_y [m]
    max[1] = 0.05;
    min[3] = 0.8; // rail_z [m]
    max[3] = 0.9;
    min[4] = RCS_DEG2RAD(-70.); // joint_2_R [rad]
    max[4] = RCS_DEG2RAD(-60.);
    min[5] = -0.04;  // box_y [m]
    max[5] = 0.04;
}

std::vector<std::string> ISSBoxLifting::getNames() const
{
    return {"base_x", "base_y", "base_theta", "rail_z", "joint_2_R", "box_y"};
}

void ISSBoxLifting::applyInitialState(const MatNd* initialState)
{
//    bool b0, b1, b2, b3;
    bool b4;
    
    // 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);
        b4 = RcsGraph_setJoint(graph, "lbr_joint_2_R", RCS_DEG2RAD(-65.));
        graph->q->ele[box->jnt->jointIndex + 1] = initialState->ele[5];
    }
    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]);
        b4 = RcsGraph_setJoint(graph, "lbr_joint_2_R", initialState->ele[4]);
        graph->q->ele[box->jnt->jointIndex + 1] = initialState->ele[5];
    }
    
    if (!(b4)) {
        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 */