CommandTellThis.h

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#ifndef ConscienceEnvironmentInteractionCommandTellThis_h
#define ConscienceEnvironmentInteractionCommandTellThis_h
 
#include "./Command.h"
#include "ArtificialIntelligence/CscJacobianInverseKinematic.h"
#include "Parser/CscCommandAutoParse.h"
 
#include <string>
#include <random>
 
using std::vector; using std::string;
 
namespace conscience_core::bridging::commands {
    
    
    class CSC_DLL_IMPORTEXPORT CommandTellThis : public CscCommand {
 
    public:
        inline static const CommandTypeId COMMAND_ID = "TELL_THIS";
        CommandTellThis(const string &sentence, int volume, int speed, ptr<CscEntityReflexion> entityReflexion, int knowledgeId, CscState* currentState);
 
    protected:
        const CscCommandExecutionResultSequence * doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
        ptr<CscEntityReflexion> getEntityReflexion() const override {
            return nullptr;
        }
        
    private:
        const int volume;
        const int speed;
        const string sentence;
        ptr<conscience_core::ai::CscEntityReflexion> entityReflexion;
        int knowledgeId;
        CscState* currentState;
        
        std::mt19937 rng;
        
        CscSequence* calculHandsMovements(CscEnvironmentSimulator &environmentSimulator);
        CscPoint3d* firstPoint(const CscEntityModel* model, bool left);
        vector<CscJacobianInverseKinematic::TargetIKParams*> newRandomPoints(const CscEntityModel* model, vector<CscJacobianInverseKinematic::TargetIKParams*> firstPoints);
        
        bool hasTwoHands(const CscEntityModel* model);
    };
 
COMMAND_REGISTER(CommandTellThis, const string &, int, int, ptr<CscEntityReflexion>, int, CscState*)
 
}
 
#endif