OMTask.cpp

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 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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#include "OMTask.h"

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

#include <algorithm>
#include <limits>

namespace Rcs
{

OMTask::OMTask(Task* task) : task(task), maxVelocity(task->getDim(), std::numeric_limits<double>::infinity()) {}

OMTask::~OMTask()
{
    delete task;
}

unsigned int OMTask::getStateDim() const
{
    return task->getDim();
}

void OMTask::computeObservation(double* state, double* velocity, const MatNd* currentAction, double dt) const
{
    task->computeX(state);
    task->computeXp(velocity);
}

void OMTask::getLimits(double* minState, double* maxState, double* maxVelocity) const
{
    for (size_t i = 0; i < getStateDim(); ++i) {
        minState[i] = task->getParameter(i).minVal;
        maxState[i] = task->getParameter(i).maxVal;
        maxVelocity[i] = this->maxVelocity[i];
    }
}

std::vector<std::string> OMTask::getStateNames() const
{
    // The dynamical systems do report their var names, but unfortunately also include the unit in that string.
    // We have to strip that.
    std::vector<std::string> result;
    result.reserve(getStateDim());
    
    std::string prefix = task->getEffector()->name;
    prefix += "_";
    
    for (auto param : task->getParameters()) {
        auto paramName = param.name;
        auto spaceIdx = paramName.find(' ');
        
        if (spaceIdx != std::string::npos) {
            paramName = paramName.substr(0, spaceIdx);
        }
        
        result.push_back(prefix + paramName);
    }
    return result;
}

OMTask* OMTask::setMinState(double minState)
{
    for (size_t i = 0; i < getStateDim(); ++i) {
        task->getParameter(i).minVal = minState;
    }
    return this;
}

OMTask* OMTask::setMinState(std::vector<double> minState)
{
    RCHECK_EQ(getStateDim(), minState.size());
    for (size_t i = 0; i < getStateDim(); ++i) {
        task->getParameter(i).minVal = minState[i];
    }
    return this;
}

OMTask* OMTask::setMaxState(double maxState)
{
    for (size_t i = 0; i < getStateDim(); ++i) {
        task->getParameter(i).maxVal = maxState;
    }
    return this;
}

OMTask* OMTask::setMaxState(std::vector<double> maxState)
{
    RCHECK_EQ(getStateDim(), maxState.size());
    for (size_t i = 0; i < getStateDim(); ++i) {
        task->getParameter(i).maxVal = maxState[i];
    }
    return this;
}

OMTask* OMTask::setMaxVelocity(double maxVelocity)
{
    std::fill(this->maxVelocity.begin(), this->maxVelocity.end(), maxVelocity);
    return this;
}

OMTask* OMTask::setMaxVelocity(std::vector<double> maxVelocity)
{
    RCHECK_EQ(getStateDim(), maxVelocity.size());
    this->maxVelocity = maxVelocity;
    return this;
}

void OMTask::initTaskBodyNames(const char* effectorName, const char* refBodyName, const char* refFrameName)
{
    if (effectorName != NULL) {
        RcsBody* effector = RcsGraph_getBodyByName(task->getGraph(), effectorName);
        RCHECK_MSG(effector, "Effector body %s not found!", effectorName);
        task->setEffector(effector);
    }
    if (refBodyName != NULL) {
        RcsBody* refBody = RcsGraph_getBodyByName(task->getGraph(), refBodyName);
        RCHECK_MSG(refBody, "Reference body %s not found!", refBodyName);
        task->setRefBody(refBody);
        
        // If there is no separate reference frame, the relative coordinates should be in the frame of the reference body
        if (refFrameName == NULL) {
            task->setRefFrame(refBody);
        }
    }
    if (refFrameName != NULL) {
        RcsBody* refFrame = RcsGraph_getBodyByName(task->getGraph(), refFrameName);
        RCHECK_MSG(refFrame, "Reference frame %s not found!", refFrameName);
        task->setRefFrame(refFrame);
    }
}

} /* namespace Rcs */