ISSQuanserQube.cpp

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#include "ISSQuanserQube.h"

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

namespace Rcs
{

ISSQuanserQube::ISSQuanserQube(RcsGraph* graph) : InitStateSetter(graph)
{
    // Grab direct references to the used bodies
    arm = RcsGraph_getBodyByName(graph, "Arm");
    RCHECK (arm);
    pendulum = RcsGraph_getBodyByName(graph, "Pendulum");
    RCHECK (pendulum);
}

ISSQuanserQube::~ISSQuanserQube()
{
    // nothing to destroy
}

unsigned int ISSQuanserQube::getDim() const
{
    return 4;
}

std::vector<std::string> ISSQuanserQube::getNames() const
{
    return {"theta", "alpha", "theta_dot", "alpha_dot"};
}

void ISSQuanserQube::getMinMax(double* min, double* max) const
{
    min[0] = RCS_DEG2RAD(-60.);  // arm angle [rad]
    max[0] = RCS_DEG2RAD(60.);
    min[1] = RCS_DEG2RAD(-180.); // pendulum angle [rad]
    max[1] = RCS_DEG2RAD(180.);
    min[2] = RCS_DEG2RAD(-10.); // arm velocity in [rad/s]
    max[2] = RCS_DEG2RAD(10);
    min[3] = RCS_DEG2RAD(-10);  // pendulum velocity [rad/s]
    max[3] = RCS_DEG2RAD(10);
}

void ISSQuanserQube::applyInitialState(const MatNd* initialState)
{
    // The initialState is provided in rad
    
    // Set the angular position to the arm's and the pendulum's rigid body joints
    // graph->q is a vector of dim 2x1
    graph->q->ele[arm->jnt->jointIndex] = initialState->ele[0];
    graph->q->ele[pendulum->jnt->jointIndex] = initialState->ele[1];
    
    // Set the angular velocity to the arm's and the pendulum's rigid body joints
    // graph->q is a vector of dim 2x1
    graph->q_dot->ele[arm->jnt->jointIndex] = initialState->ele[2];
    graph->q_dot->ele[pendulum->jnt->jointIndex] = initialState->ele[3];
    
    // Update the forward kinematics
    RcsGraph_setState(graph, graph->q, graph->q_dot);
}

} /* namespace Rcs */