OMCollisionCostPrediction.h

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#ifndef _OMCOLLISIONCOSTPREDICTION_H_
#define _OMCOLLISIONCOSTPREDICTION_H_

#include "ObservationModel.h"
#include "../config/PropertySource.h"
#include "../action/ActionModel.h"

namespace Rcs
{

class OMCollisionCostPrediction : public ObservationModel
{
public:
    
    OMCollisionCostPrediction(
        RcsGraph* graph, RcsCollisionMdl* collisionMdl, const ActionModel* actionModel,
        size_t horizon = 10, double maxCollCost = 1e4);
    
    virtual ~OMCollisionCostPrediction();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones.
    RCSPYSIM_NOCOPY_NOMOVE(OMCollisionCostPrediction)
    
    virtual void computeObservation(double* state, double* velocity, const MatNd* currentAction, double dt) const;
    
    virtual void getLimits(double* minState, double* maxState, double* maxVelocity) const;
    
    virtual unsigned int getStateDim() const;
    
    virtual unsigned int getVelocityDim() const;
    
    std::vector<std::string> getStateNames() const override;

private:
    //! Graph to observe (not owned)
    RcsGraph* realGraph;
    
    //! Graph copy for prediction
    RcsGraph* predictGraph;
    
    //! Action model copy for prediction
    ActionModel* predictActionModel;
    
    //! Rcs collision model
    RcsCollisionMdl* collisionMdl;
    
    //! Time horizon for the predicted collision costs (horizon = 1 mean the current step plus one step ahead)
    size_t horizon;
    
    double maxCollCost;
};

}

#endif //_OMCOLLISIONCOSTPREDICTION_H_