InitStateSetter.h

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#ifndef _INITSTATESETTER_H_
#define _INITSTATESETTER_H_

#include "../util/BoxSpaceProvider.h"

#include <Rcs_graph.h>

namespace Rcs
{

/**
 * The InitStateSetter defines the changeable initial state of the simulation.
 * It is invoked during the reset() method to adapt the initial state as desired for the rollout.
 */
class InitStateSetter : public BoxSpaceProvider
{
public:
    /**
     * Constructor
     * @param graph graph to set the state on
     */
    explicit InitStateSetter(RcsGraph* graph);
    
    virtual ~InitStateSetter();
    
    /**
     * Provides the minimum and maximum state values.
     * The default implementation uses -inf and inf.
     */
    virtual void getMinMax(double* min, double* max) const;
    
    /**
     * Set initial state of the graph.
     */
    virtual void applyInitialState(const MatNd* initialState) = 0;

protected:
    // the graph
    RcsGraph* graph;
};
    
} /* namespace Rcs */

#endif /* _INITSTATESETTER_H_ */