OMTaskSpaceDiscrepancy.cpp

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#include "OMTaskSpaceDiscrepancy.h"

#include <Rcs_typedef.h>
#include <Rcs_macros.h>
#include <Rcs_Vec3d.h>
#include <Rcs_VecNd.h>


namespace Rcs
{

OMTaskSpaceDiscrepancy::OMTaskSpaceDiscrepancy(
    const char* bodyName,
    const RcsGraph* controllerGraph,
    const RcsGraph* configGraph,
    double maxDiscrepancy
) : maxDiscrepancy(maxDiscrepancy)
{
    bodyController = RcsGraph_getBodyByName(controllerGraph, bodyName);
    bodyConfig = RcsGraph_getBodyByName(configGraph, bodyName);
    RCHECK(bodyController);
    RCHECK(bodyConfig);
}

OMTaskSpaceDiscrepancy::~OMTaskSpaceDiscrepancy()
{
    // Pointer on bodies are destroyed by the graph
}

unsigned int OMTaskSpaceDiscrepancy::getStateDim() const
{
    return 3; // only Cartesian position difference
}

unsigned int OMTaskSpaceDiscrepancy::getVelocityDim() const
{
    return 0;  // does not have a velocity field
}

void OMTaskSpaceDiscrepancy::getLimits(double* minState, double* maxState, double* maxVelocity) const
{
    unsigned int sd = getStateDim();
    VecNd_setElementsTo(minState, -maxDiscrepancy, sd);
    VecNd_setElementsTo(maxState, maxDiscrepancy, sd);
    VecNd_setElementsTo(maxVelocity, 0., getVelocityDim());
}

void OMTaskSpaceDiscrepancy::computeObservation(
    double* state,
    double* velocity,
    const MatNd* currentAction,
    double dt) const
{
    // Get the difference (desired - current)
    Vec3d_sub(state, bodyController->A_BI->org, bodyConfig->A_BI->org);
    
    // Print if debug level is exceeded
    REXEC(7) {
        std::cout << "Task space discrepancy: " << state << std::endl;
    }
}

void OMTaskSpaceDiscrepancy::reset()
{
//      RcsBody* bodyController = RcsGraph_getBodyByName(controllerGraph, bodyName);
//      RcsBody* bodyConfig = RcsGraph_getBodyByName(configGraph, bodyName);
}

std::vector<std::string> OMTaskSpaceDiscrepancy::getStateNames() const
{
    std::vector<std::string> result;
    result.reserve(getStateDim());
    result.push_back(std::string(bodyConfig->name) + "_DiscrepTS_X");
    result.push_back(std::string(bodyConfig->name) + "_DiscrepTS_Y");
    result.push_back(std::string(bodyConfig->name) + "_DiscrepTS_Z");
    return result;
}

} /* namespace Rcs */