OMJointState.h

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#ifndef _OMJOINTSTATE_H_
#define _OMJOINTSTATE_H_

#include "ObservationModel.h"

namespace Rcs
{

/*!
 * Observes joint positions and velocities for a single joint.
 */
class OMJointState : public ObservationModel
{
public:
    
    static ObservationModel* observeAllJoints(RcsGraph* graph);
    
    static ObservationModel* observeUnconstrainedJoints(RcsGraph* graph);
    
    /*!
     * Constructor
     * @param graph graph to observe
     * @param jointName name of joint to observe
     * @param wrapJointAngle whether to wrap the state of a rotational joint into the [-pi, pi] range.
     *                       Use for unlimited rotation joints.
     */
    OMJointState(RcsGraph* graph, const char* jointName, bool wrapJointAngle);
    
    /*!
     * Constructor
     * Decides to wrap the joint angle if the joint's movement range is exactly [-pi, pi].
     * @param graph graph to observe
     * @param jointName name of joint to observe
     */
    OMJointState(RcsGraph* graph, const char* jointName);
    
    virtual ~OMJointState();
    
    virtual unsigned int getStateDim() const;
    
    // Here to provide th option to be overwritten by OMJointStatePositions
    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:
    // create from joint
    OMJointState(RcsGraph* graph, RcsJoint* joint);
    
    // The graph being observed
    RcsGraph* graph;
    // The joint to observe
    RcsJoint* joint;
    // Set to true in order to wrap the joint angle into [-pi, pi].
    bool wrapJointAngle;
};

/*!
 * Observes joint positions and velocities for a single joint.
 */
class OMJointStatePositions : public OMJointState
{
public:
    // Use the base class constructor
    OMJointStatePositions(RcsGraph* graph, const char* jointName, bool wrapJointAngle);
    
    virtual unsigned int getVelocityDim() const;
};

} /* namespace Rcs */

#endif /* _OMJOINTSTATE_H_ */