#include "Shared/RobotInfo.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 {
// Link to base will get you the position in the right most column (the translation column). Call it with a joint id (like leftFigerOffset or something) and it will give you the rotation/translation matrix for that joint
    fmat::Column<3> targetCam = fmat::pack(0, 0, 300);
    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
    getMC()->solveLinkPosition(targetBase, link, noOffset);

	std::cout << "Link: " << link << std::endl
		      << "targetCam" << targetCam << std::endl
		      << "targetBase" << targetBase << std::endl;
  }

  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_MENU(GripperTrackCamera2,DEFAULT_TK_MENU"/Kinematics Demos");

#endif