OMForceTorque.h

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 Technical University of Darmstadt.
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#ifndef _OMFORCETORQUE_H_
#define _OMFORCETORQUE_H_

#include "OMComputedVelocity.h"

#include <limits>

namespace Rcs
{

/*!
 * Observes measurements of a single force/torque sensor.
 */
class OMForceTorque : public ObservationModel
{
public:
    
    /*!
     * Constructor
     * @param graph graph to observe
     * @param sensorName name of sensor to observe
     * @param maxForce maximum force in Newton for all sensed dimensions, e.g. 1200 N for the Kuka iiwa
     */
    OMForceTorque(
        RcsGraph* graph,
        const char* sensorName,
        double maxForce = std::numeric_limits<double>::infinity(),
        bool transformToWorldFrame = false
        );
    
    virtual ~OMForceTorque();
    
    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:
    //! FTS to observe
    RcsSensor* sensor;
    
    double max_force;
    double max_torque;
    bool transformToWorldFrame;
};

} /* namespace Rcs */

#endif /* _OMFORCETORQUE_H_ */