CscKnowledgeItemTargetArmToPosition.h

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//
//  CscKnowledgeItemTargetArmToPosition.h
//  ConscienceRobotManager
//
//  Created by Max Lhermitte on 16/11/2022.
//  Copyright © 2022 IliesZaoui. All rights reserved.
//
 
#ifndef CscKnowledgeItemTargetArmToPosition_h
#define CscKnowledgeItemTargetArmToPosition_h
 
#include "../ArtificialIntelligence/CscJacobianInverseKinematic.h"
#include "Knowledge/CscKnowledgeItemTarget.h"
 
namespace conscience_core::knowledge {
 
    class CSC_DLL_IMPORTEXPORT CscKnowledgeItemTargetArmToPosition : public CscKnowledgeItemTarget {
    public:
        // constructor
        CscKnowledgeItemTargetArmToPosition(int knoItemIdIn, string knoItemNameIn, CscUnitType unitTypeIn, CscArtificialIntelligenceTypes aiTypes, CscEnvironmentSimulator *globalEnv, float maxHorizontalDistance, float maxVerticalDistance, float maxDepthDistance, CscPoint3d* offsetCenter, const CscEntityModel *entityModel, CscState* currentState, vector<CscJacobianInverseKinematic::TargetIKParams*> targets, map<int, CscPoint3d*> &centerOfMassOfAllMemberByMemberId,  vector<int> pivotsIdToIgnoreForMovement, bool debugWithBox, bool constraintOnDistance);
 
        // destructor
        virtual ~CscKnowledgeItemTargetArmToPosition();
 
        // methods to override
        bool isStatesSupportOf(CscState *state1, CscState *state2) override;
        bool isObjectiveSupportOf(CscKnowledgeItem *knowledgeItem) override;
        CscPerson *generatePerson(CscEnvironmentSimulator *environment, const CscWorldEntity *entity, CscState *initialState, int personId, int generationId, CscGeneration *currentGeneration, CscGeneration *previousGeneration) override;
 
        // methode create
        static CscKnowledgeItemTargetArmToPosition *create(int knoItemIdIn, string knoItemNameIn, CscUnitType unitTypeIn, CscArtificialIntelligenceTypes aiTypes, CscEnvironmentSimulator *globalEnv, float maxHorizontalDistance, float maxVerticalDistance, float maxDepthDistance, CscPoint3d* offsetCenter, const CscEntityModel* entityModel, CscState* currentState, vector<CscJacobianInverseKinematic::TargetIKParams*> targets, map<int, CscPoint3d*> centerOfMassOfAllMemberByMemberId,  vector<int> pivotsIdToIgnoreForMovement, bool debugWithBox = false, bool constraintOnDistance = false) {
            return new CscKnowledgeItemTargetArmToPosition(knoItemIdIn, knoItemNameIn, unitTypeIn, aiTypes, globalEnv, maxHorizontalDistance, maxVerticalDistance, maxDepthDistance, offsetCenter, entityModel, currentState, targets, centerOfMassOfAllMemberByMemberId, pivotsIdToIgnoreForMovement, debugWithBox, constraintOnDistance);
        }
 
        CscState *generateSolution(const CscEntityModel *model, CscState *initialState);
 
        void updateSimulator(const CscWorldElementId &entityId, CscState *stateToApply);
 
        CscJacobianInverseKinematic *getCalculator();
 
    private:
        CscEnvironmentSimulator *globalEnv;
        CscJacobianInverseKinematic *calculator;
        const CscEntityModel* entityModel;
        vector<int> pivotsIdToIgnoreForMovement;
    };
}
#endif