TorchPolicy.h

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#ifndef _TORCHPOLICY_H_
#define _TORCHPOLICY_H_

#include "ControlPolicy.h"

#include <torch/script.h>

namespace Rcs
{

/*!
 * ControlPolicy backed by a scripted torch module.
 */
class TorchPolicy : public ControlPolicy
{
public:
    TorchPolicy(const char* filename);
    
    virtual ~TorchPolicy();
    
    virtual void reset();
    
    virtual void computeAction(MatNd* action, const MatNd* observation);

private:
    torch::jit::script::Module module;
};

} /* namespace Rcs */

#endif /* _TORCHPOLICY_H_ */