#include "Shared/RobotInfo.h"
#include "Behaviors/StateMachine.h"

#if defined(TGT_HAS_ARMS) && defined(TGT_HAS_HEAD)

#include "Behaviors/Nodes/PostureNode.h"
#include "Behaviors/Transitions/EventTrans.h"
#include "Motion/MotionPtr.h"

$nodeclass GripperTrackCamera2 : StateNode {

  $nodeclass ArmMover : PostureNode : doStart {
    fmat::Column<3> targetCam = fmat::pack(0, 0, 100);
    fmat::Column<3> targetBase = kine->linkToBase(CameraFrameOffset) * targetCam;
		fmat::Column<3> noOffset = fmat::pack(0, 0, 0);
#ifdef TGT_IS_CALLIOPE5
		unsigned int link = LeftFingerFrameOffset;
#else
		unsigned int link = GripperFrameOffset;
#endif

	fmat::Transform leftFinger = kine->linkToBase(LeftFingerFrameOffset);
	fmat::Column<3> leftFingerPos = leftFinger.translation();
	
	float dist = (targetBase-leftFingerPos).norm();
	cout << "Distance is " << dist << endl;
	if (dist > 100) {
		getMC()->defaultMaxSpeed(0.3);
	} else {
		getMC()->defaultMaxSpeed();
	}

    	getMC()->solveLinkPosition(targetBase, link, noOffset);
	


  }

  virtual void setup() {
		// We make the posture motion command here and supply it to the
		// PostureNode via setMC() so that it only has to be registered
		// with the MotionManager once. Registering and deregistering a
		// PostureMC inside a tight sensor loop is inefficient and leads
		// to crashes.
		MotionManager::MC_ID posturemc = addMotion(MotionPtr<PostureMC>());

    $statemachine{
  		startnode: ArmMover[setMC(posturemc)] =E(sensorEGID)=> startnode
    }
  }

}

REGISTER_BEHAVIOR(GripperTrackCamera2);

#endif