ISSMPBlending.cpp

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 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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#include "ISSMPBlending.h"

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

namespace Rcs
{

ISSMPBlending::ISSMPBlending(RcsGraph* graph) : InitStateSetter(graph)
{
    // Grab direct references to the body
    effector = RcsGraph_getBodyByName(graph, "Effector");
    RCHECK(effector);
}

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

unsigned int ISSMPBlending::getDim() const
{
    return 2;
}

void ISSMPBlending::getMinMax(double* min, double* max) const
{
    // Cartesian positions [m]
    min[0] = -0.;
    max[0] = +0.;
    min[1] = -0.;
    max[1] = +0.;
}

std::vector<std::string> ISSMPBlending::getNames() const
{
    return {"x", "y"};
}

void ISSMPBlending::applyInitialState(const MatNd* initialState)
{
    // Set the position to the links's rigid body joints
    graph->q->ele[effector->jnt->jointIndex] = initialState->ele[0];
    graph->q->ele[effector->jnt->jointIndex + 1] = initialState->ele[1];
    
    // Update the forward kinematics
    RcsGraph_setState(graph, graph->q, graph->q_dot);
}
    
} /* namespace Rcs */