OMNormalized.h

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#ifndef _OMNORMALIZED_H_
#define _OMNORMALIZED_H_

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

namespace Rcs
{

/*!
 * Observation model wrapper to normalize observations into the [-1,1] range.
 */
class OMNormalized : public ObservationModel
{
private:
    // Wrapped observation model
    ObservationModel* wrapped;
    // Scale factor for every observation value. Contains both state and velocity.
    MatNd* scale;
    // Shift for every observation value, applied before scale. Contains both state and velocity.
    MatNd* shift;
public:
    /*!
     * Constructor
     * @param wrapped inner observation model. Takes ownership.
     * @param overrideMin overridden lower bounds by state name
     * @param overrideMax overridden upper bounds by state name
     */
    explicit OMNormalized(ObservationModel* wrapped, PropertySource* overrideMin, PropertySource* overrideMax);
    
    virtual ~OMNormalized();
    
    // not copy- or movable - klocwork doesn't pick up the inherited ones.
    RCSPYSIM_NOCOPY_NOMOVE(OMNormalized)
    
    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 void reset();
    
    virtual std::vector<std::string> getStateNames() const;
    
    virtual std::vector<ObservationModel*> getNested() const;
    
    virtual std::vector<std::string> getVelocityNames() const;
    
};
    
} /* namespace Rcs */

#endif //_OMNORMALIZED_H_