OMBallPos.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 "OMBallPos.h"

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

namespace Rcs
{

OMBallPos::OMBallPos(RcsGraph* graph) :
    OMBodyStateLinear(graph, "Ball", "Plate"), ballRadius(0)
{
    // reset to update ball radius
    reset();
    
    // find plate dimensions
    RcsShape* plateShape = NULL;
    RCSBODY_TRAVERSE_SHAPES(getTask()->getRefBody()) {
        if (SHAPE->type == RCSSHAPE_BOX) {
            // found the shape
            plateShape = SHAPE;
            break;
        }
    }
    RCHECK_MSG(plateShape, "Plate body must have a box shape.");
    double plateWidth = plateShape->extents[0];
    double plateHeight = plateShape->extents[1];
    
    // use plate dims to initialize limits, z limits are arbitrary
    setMinState({-plateWidth/2, -plateHeight/2, -ballRadius - 0.1});
    setMaxState({+plateWidth/2, +plateHeight/2, +ballRadius + 0.1});
    // velocity limit is arbitrary too.
    setMaxVelocity(5.0);
    
}

OMBallPos::~OMBallPos()
{
    // nothing to destroy specifically
}

void OMBallPos::computeObservation(double* state, double* velocity, const MatNd* currentAction, double dt) const
{
    OMTask::computeObservation(state, velocity, currentAction, dt);
    // remove ball radius from z pos
    state[2] -= ballRadius;
}

void OMBallPos::reset()
{
    // update ball radius in case it changed
    RCSBODY_TRAVERSE_SHAPES(getTask()->getEffector()) {
        if (SHAPE->type == RCSSHAPE_SPHERE) {
            // found the ball shape
            ballRadius = SHAPE->extents[0];
            break;
        }
    }
}

} /* namespace Rcs */