ISSPlanar3Link.h

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#ifndef _ISSPLANAR3LINK_H_
#define _ISSPLANAR3LINK_H_

#include "InitStateSetter.h"

namespace Rcs
{

/**
 * Initial state setter for the planar-3-link environment.
 * The initial state consists of the 3 joint angles.
 */
class ISSPlanar3Link : public InitStateSetter
{
public:
    /**
     * Constructor.
     * The passed graph must contain three bodies named 'Link1', 'Link2', and 'Link3'.
     * @param graph graph to set the state on
     */
    ISSPlanar3Link(RcsGraph* graph);
    
    virtual ~ISSPlanar3Link();
    
    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* link1;
    RcsBody* link2;
    RcsBody* link3;
};
    
} /* namespace Rcs */

#endif /* _ISSPLANAR3LINK_H_ */