ISSMiniGolf.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 "ISSMiniGolf.h"

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

namespace Rcs
{

ISSMiniGolf::ISSMiniGolf(RcsGraph* graph, bool fixedInitState) : InitStateSetter(graph), fixedInitState(fixedInitState)
{
    // Grab direct references to the used bodies
    ball = RcsGraph_getBodyByName(graph, "Ball");
    RCHECK(ball);
}

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

unsigned int ISSMiniGolf::getDim() const
{
    return 9;  // ball x and y position + 7 joint angular positions
}

void ISSMiniGolf::getMinMax(double* min, double* max) const
{
    double ballPosHalfSpanX = 1e-6; // [m]
    double ballPosHalfSpanY = 1e-2; // [m]
    double jointAngHalfSpan = 1e-6; // [rad]
    
    min[0] = 0.304096 - ballPosHalfSpanX;  // ball_x [m]
    max[0] = 0.304096 + ballPosHalfSpanX;
    min[1] = 1.29785 - ballPosHalfSpanY;  // ball_y [m]
    max[1] = 1.29785 + ballPosHalfSpanY;
    min[2] = RCS_DEG2RAD(18.996253 - jointAngHalfSpan);  // base-m3 [rad]
    max[2] = RCS_DEG2RAD(18.996253 + jointAngHalfSpan);
    min[3] = RCS_DEG2RAD(-87.227101 - jointAngHalfSpan);  // m3-m4 [rad]
    max[3] = RCS_DEG2RAD(-87.227101 + jointAngHalfSpan);
    min[4] = RCS_DEG2RAD(74.149568 - jointAngHalfSpan);  // m4-m5 [rad]
    max[4] = RCS_DEG2RAD(74.149568 + jointAngHalfSpan);
    min[5] = RCS_DEG2RAD(-75.577025 - jointAngHalfSpan);  // m5-m6 [rad]
    max[5] = RCS_DEG2RAD(-75.577025 + jointAngHalfSpan);
    min[6] = RCS_DEG2RAD(56.207369 - jointAngHalfSpan);  // m6-m7 [rad]
    max[6] = RCS_DEG2RAD(56.207369 + jointAngHalfSpan);
    min[7] = RCS_DEG2RAD(-175.162794 - jointAngHalfSpan);  // m7-m8 [rad]
    max[7] = RCS_DEG2RAD(-175.162794 + jointAngHalfSpan);
    min[8] = RCS_DEG2RAD(-41.543793 - jointAngHalfSpan);  // m8-m9 [rad]
    max[8] = RCS_DEG2RAD(-41.543793 + jointAngHalfSpan);
}

std::vector<std::string> ISSMiniGolf::getNames() const
{
    return {"ball_x", "ball_y", "base-m3", "m3-m4", "m4-m5", "m5-m6", "m6-m7", "m7-m8", "m8-m9"};
}

void ISSMiniGolf::applyInitialState(const MatNd* initialState)
{
    // Set the position to the box' rigid body joints directly in global world coordinates
    double* ballRBJ = &graph->q->ele[ball->jnt->jointIndex];
    if (fixedInitState) {
        ballRBJ[0] = 0.304096; // ball_x [m]
        ballRBJ[1] = 1.29785; // ball_y [m]
        RcsGraph_setJoint(graph, "base-m3", RCS_DEG2RAD(18.996253));
        RcsGraph_setJoint(graph, "m3-m4", RCS_DEG2RAD(-87.227101));
        RcsGraph_setJoint(graph, "m4-m5", RCS_DEG2RAD(74.149568));
        RcsGraph_setJoint(graph, "m5-m6", RCS_DEG2RAD(-75.577025));
        RcsGraph_setJoint(graph, "m6-m7", RCS_DEG2RAD(56.207369));
        RcsGraph_setJoint(graph, "m7-m8", RCS_DEG2RAD(-175.162794));
        RcsGraph_setJoint(graph, "m8-m9", RCS_DEG2RAD(-41.543793));
    }
    else {
        ballRBJ[0] = initialState->ele[0];
        ballRBJ[1] = initialState->ele[1];
        RcsGraph_setJoint(graph, "base-m3", initialState->ele[2]);
        RcsGraph_setJoint(graph, "m3-m4", initialState->ele[3]);
        RcsGraph_setJoint(graph, "m4-m5", initialState->ele[4]);
        RcsGraph_setJoint(graph, "m5-m6", initialState->ele[5]);
        RcsGraph_setJoint(graph, "m6-m7", initialState->ele[6]);
        RcsGraph_setJoint(graph, "m7-m8", initialState->ele[7]);
        RcsGraph_setJoint(graph, "m8-m9", initialState->ele[8]);
    }
    
    // Update the forward kinematics
    RcsGraph_setState(graph, graph->q, graph->q_dot);
}

} /* namespace Rcs */