SuperBallLearningController.h

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef SUPERBALL_LEARNINGCONTROLLER_H
#define SUPERBALL_LEARNINGCONTROLLER_H

// This library
#include "core/tgObserver.h"
#include "learning/Adapters/AnnealAdapter.h"
#include <vector>
#include "BulletDynamics/Dynamics/btRigidBody.h"

// Forward declarations
class SuperBallModel;

//namespace std for vectors
using namespace std;

class SuperBallPrefLengthController : public tgObserver<SuperBallModel>
{
public:
                
  // Note that currently this is calibrated for decimeters.
                SuperBallPrefLengthController(const double prefLength=5);
    
  virtual ~SuperBallPrefLengthController() { }

  virtual void onSetup(SuperBallModel& subject);
    
  virtual void onStep(SuperBallModel& subject, double dt);

  virtual void onTeardown(SuperBallModel& subject);

protected:

  vector< vector <double> > receiveActionsFromEvolution();

  virtual vector< vector <double> > transformActions(vector< vector <double> > act);

  virtual void applyActions (SuperBallModel& subject, vector< vector <double> > act, vector<double> state);

  double calculateDistanceMoved();

private:
  double m_initialLengths;
  double m_totalTime;
  btRigidBody *goalPoint;

  AnnealEvolution *evolution;
                
  vector<double> initialPosition;
  SuperBallModel *m_subject;
};

#endif // SUPERBALL_LEARNINGCONTROLLER_H