RcsPyBot.h

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#ifndef _RCSPYBOT_H_
#define _RCSPYBOT_H_

#include "ExperimentConfig.h"
#include "DataLogger.h"

#include <Rcs_filters.h>
#include <MotionControlLayer.h>

#include <mutex>

namespace Rcs
{

class ActionModel;

class ObservationModel;

class ControlPolicy;

class RcsPyBot : public MotionControlLayer
{
public:
    /**
     * Create the bot from the given property source.
     * @param propertySource configuration
     */
    explicit RcsPyBot(PropertySource* propertySource);
    
    virtual ~RcsPyBot();
    
    // not copy- or movable
    RCSPYSIM_NOCOPY_NOMOVE(RcsPyBot)
    
    ExperimentConfig* getConfig() { return config; }
    
    /**
     * Replace the control policy.
     * This method may be called while the bot is running.
     * Setting `controlPolicy` to`nullptr` and `q_des` to a joint config causes the bot to go to this configuration.
     * Does **not** take ownership.
     */
    void setControlPolicy(ControlPolicy* controlPolicy, const MatNd* q_des = nullptr);
    
    void syncGraphsToCurrent();
    
    ControlPolicy* getControlPolicy() const
    {
        std::unique_lock<std::mutex> lock(controlPolicyMutex);
        return controlPolicy;
    }
    
    //! Data logger
    DataLogger logger;
    
    /**
     * Get storage matrix for current observation.
     *
     * WARNING: the contents may update asynchronously. The dimensions are constant.
     */
    MatNd* getObservation() const;
    
    /**
     * Get storage matrix for current action.
     *
     * WARNING: the contents may update asynchronously. The dimensions are constant.
     */
    MatNd* getAction() const;
    
    //! Filter for going to the home pose
    Rcs::SecondOrderLPFND* homePoseFilt;

protected:
    virtual void updateControl();
    
    //! Control policy mutex (mutable to allow using it from const functions)
    mutable std::mutex controlPolicyMutex;
    
    //! Experiment configuration
    ExperimentConfig* config;
    bool allJointsPosCtrl;
    
    //! Control policy
    ControlPolicy* controlPolicy;
    
    //! Temporary matrices
    MatNd* q_ctrl;
    MatNd* qd_ctrl;
    MatNd* T_ctrl;
    
    MatNd* observation;
    MatNd* action;
};

} /* namespace Rcs */

#endif /* _RCSPYBOT_H_ */