CommandJacobianInverseKinematicMovement.h

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#ifndef ConscienceEnvironmentInteractionCommandJacobianInverseKinematicMovement_h
#define ConscienceEnvironmentInteractionCommandJacobianInverseKinematicMovement_h
 
#include "./Command.h"
#include "Parser/CscCommandAutoParse.h"
 
using std::string;
using std::vector;
 
enum RequestType{
    START = 0,
    UPDATE = 1,
    STOP = 2
};
 
namespace conscience_core::bridging::commands {
    
    
    class CSC_DLL_IMPORTEXPORT CommandJacobianInverseKinematicMovement: public CscCommand {
 
    public:
        inline static const CommandTypeId COMMAND_ID = "JACOBIAN_INVERSE_KINEMATIC_MOVEMENT";
        
        CommandJacobianInverseKinematicMovement(
            ptr<CscEntityReflexion> entityReflexion,
            int knowledgeId,
            CscState * currentState,
            RequestType requestType,
            CscPoint3d *movementToPerform,
            float maxHorizontalDistance,
            float maxVerticalDistance,
            float maxDepthDistance,
            bool debugWithBox,
            bool constraintOnDistance,
            optional<int> memberToMoveId,
            vector<int> pivotIdToIgnoreForMovement);
        
        ~CommandJacobianInverseKinematicMovement() {
        }
 
        int getKnowledgeId();
        const CscState *getCurrentState();
 
    protected:
        const CscCommandExecutionResultNone * doExecute(CscEnvironmentSimulator &environmentSimulator) override;
        ptr<CscEntityReflexion> getEntityReflexion() const override {
            return entityReflexion;
        }
    private:
 
        ptr<CscEntityReflexion> entityReflexion;
 
        const int knowledgeId;
        CscState * currentState;
        RequestType requestType;
        const CscPoint3d movementToPerform;
        const float maxHorizontalDistance;
        const float maxVerticalDistance;
        const float maxDepthDistance;
        const bool debugWithBox;
        const bool constraintOnDistance;
 
        optional<int> memberToMoveId;
        vector<int> pivotIdToIgnoreForMovement;
        
        const float offset = 1500.0f;
        
        const int findMemberToMoveId() const;
        
        const int findStationaryPivotId(const int memberToMoveId) const;
        
        CscPoint3d* findTargetToReachByDefault(const int stationaryPivotId, const int memberToMoveId) const;
    };
 
COMMAND_REGISTER(CommandJacobianInverseKinematicMovement,
            ptr<CscEntityReflexion>,
            int,
            CscState *,
            RequestType,
            CscPoint3d *,
            float,
            float,
            float,
            bool,
            bool,
            optional<int>,
            vector<int>)
    
}
 
#endif