PPDBodyPosition.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 "PPDBodyPosition.h"
#include "PPDSingleVar.h"

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

#include <stdexcept>

namespace Rcs
{


PPDBodyPosition::PPDBodyPosition(const bool includeX, const bool includeY, const bool includeZ)
{
    Vec3d_setZero(initPos);
    Vec3d_setZero(offsetPos);
    
    if (includeX) {
        addChild(new PPDSingleVar<double>(
            "pos_offset_x", BodyParamInfo::MOD_POSITION,
            [this](BodyParamInfo& bpi) -> double& { return (offsetPos[0]); })
        );
    }
    if (includeY) {
        addChild(new PPDSingleVar<double>(
            "pos_offset_y", BodyParamInfo::MOD_POSITION,
            [this](BodyParamInfo& bpi) -> double& { return (offsetPos[1]); })
        );
    }
    if (includeZ) {
        addChild(new PPDSingleVar<double>(
            "pos_offset_z", BodyParamInfo::MOD_POSITION,
            [this](BodyParamInfo& bpi) -> double& { return (offsetPos[2]); })
        );
    }
    
    if (getChildren().empty()) {
        throw std::invalid_argument("No position specified for PPDBodyPosition!");
    }
}

PPDBodyPosition::~PPDBodyPosition() = default;

void PPDBodyPosition::init(Rcs::BodyParamInfo* bpi)
{
    PPDCompound::init(bpi);
    
    Vec3d_copy(initPos, bpi->body->A_BP->org);
}

void PPDBodyPosition::setValues(PropertySource* inValues)
{
    PPDCompound::setValues(inValues);
    
    // Apply the position offset to the body
    Vec3d_add(this->bodyParamInfo->body->A_BP->org, initPos, offsetPos);
}

} /* namespace Rcs */