OMDynamicalSystemGoalDistance.h

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#ifndef _OMDYNAMICALSYSTEMGOALDISTANCE_H_
#define _OMDYNAMICALSYSTEMGOALDISTANCE_H_

#include "ObservationModel.h"
#include "../action/AMDynamicalSystemActivation.h"


namespace Rcs
{

class ControllerBase;

/**
 * ObservationModel wrapping multiple AMDynamicalSystemActivation to compute the distances to the individuals goals of the
 * dynamical systems but not the rate of change of these goal distances.
 */
class OMDynamicalSystemGoalDistance : public ObservationModel
{
public:
    /**
     * Create from action model.
     * NOTE: assumes that the task activation action model wraps a IK-based action model.
     */
    OMDynamicalSystemGoalDistance(AMDynamicalSystemActivation* actionModel);
    
    virtual ~OMDynamicalSystemGoalDistance();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones.
    RCSPYSIM_NOCOPY_NOMOVE(OMDynamicalSystemGoalDistance)
    
    virtual unsigned int getStateDim() const;
    
    virtual unsigned int getVelocityDim() const;
    
    virtual void computeObservation(double* state, double* velocity, const MatNd* currentAction, double dt) const;
    
    virtual void getLimits(double* minState, double* maxState, double* maxVelocity) const;
    
    virtual std::vector<std::string> getStateNames() const;


private:
    //! Task activation action model, provides the tasks (not owned)
    AMDynamicalSystemActivation* actionModel;
    //! Controller to extract the task space state
    ControllerBase* controller;
    //! Limits
    double maxDistance; // by default infinity
};

} /* namespace Rcs */

#endif /* _OMDYNAMICALSYSTEMGOALDISTANCE_H_ */