ISSMiniGolf.h

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 Technical University of Darmstadt.
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#ifndef _ISSMINIGOLF_H_
#define _ISSMINIGOLF_H_

#include "InitStateSetter.h"

namespace Rcs
{

/**
 * Initial state setter for the mini golf task.
 * The initial state consists of the the x and y position of the ball.
 */
class ISSMiniGolf : public InitStateSetter
{
public:
    /**
     * Constructor.
     * The passed graph must contain the ball body.
     * @param graph graph to set the state on
     */
    ISSMiniGolf(RcsGraph* graph, bool fixedInitState);
    
    virtual ~ISSMiniGolf();
    
    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:
    bool fixedInitState;
    RcsBody* ball;
};

} /* namespace Rcs */

#endif /* _ISSMINIGOLF_H_ */