CommandNNControlledMemberInstruction.h

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/*
 * NNControlledMemberInstruction.h
 *
 *  Created on: 04 juillet 2024
 *      Author: Max Lhermitte
 */
 
#ifndef NNControlledMemberInstruction_h
#define NNControlledMemberInstruction_h
 
#include "CommandCommons.h"
#include <Configuration/CscKeyDirectories.h>
 
const string SAVING_FILE_CSCNN_PATH_IN_RESOURCES = "TF_Persistence";
 
/*
 The command receives the id of the member it wants to be able to move as it wishes. And a file .cscnn, describing the neural network producted, is saved to be use later
 */
namespace conscience_core::bridging::commands {
 
class CSC_DLL_IMPORTEXPORT CommandNNControlledMemberInstruction : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "NN_CONTROLLED_MEMBER_INSTRUCTION";
 
    CommandNNControlledMemberInstruction(
        const ptr<CscEntityReflexion> &entityReflexion,
        int memberToControlId,
        const vector<int> &pivotsIdToIgnoreForMovement,
        const vector<float> &targetPosition);
 
    ~CommandNNControlledMemberInstruction() override;
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    ptr<CscEntityReflexion> entityReflexion;
    int memberToControlId;
    vector<int> pivotsIdToIgnoreForMovement;
    vector<float> targetPosition;
 
    string stringNeuralNetworkModelFileName();
    float** getValuesToReach(CscState *currentState);
    CscState *launchCurrentNeuralNetworkModelInSimulator(fs::path pathFileNeuralNetwork, CscState *currentState, float** valuesToReach);
};
 
COMMAND_REGISTER(CommandNNControlledMemberInstruction, const ptr<CscEntityReflexion> &, int, const vector<int> &, const vector<float> &)
COMMAND_TYPE_BUILDER(NNControlledMemberInstruction, CommandNNControlledMemberInstruction, ptr<CscEntityReflexion>, int, vector<int>, vector<float>)
 
}
 
#endif // CommandLearnToControlMember_h