TabulatedController.h

#ifndef TABULATED_CONTROLLER_H
#define TABULATED_CONTROLLER_H

#include "Controller.h"
#include <KrisLibrary/geometry/GridTable.h>

class TabulatedController : public RobotController
{
 public:
  TabulatedController(Robot& robot);
  ~TabulatedController() {}

  virtual void StateToFeature(const Config& q,const Vector& dq,Vector& x) const;
  virtual void FeatureToState(const Vector& x,Config& q,Vector& dq) const;

  virtual void Update(Real dt);

  bool Load(istream& in);
  bool Save(ostream& out);

  bool torqueMode;
  Geometry::GridTable<Vector> commands;
};

void OptimizeMDP(TabulatedController& controller,
                 const Config& qdes,const Vector& w,
                 int numTransitionSamples,Real discount=1.0);

#endif