#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 GripperTrackCameraTwo : StateNode {

  $nodeclass ArmMover : PostureNode : doStart {
    fmat::Column<3> targetCam = fmat::pack(0, 0, 300);
    fmat::Column<3> targetBase = kine->linkToBase(CameraFrameOffset) * targetCam;
		
 		fmat::Transform wrist =  kine->linkToBase(ArmWristOffset);

  		fmat::Column<3> wristPos = wrist.translation();

		float dist = (wristPos-targetBase).norm();

		if(dist > 1.0) {
			
			getMC()->setMaxSpeed(ArmOffset, 0.25);
			getMC()->setMaxSpeed(ArmElbowOffset, 0.25);
			getMC()->setMaxSpeed(ArmShoulderOffset, 0.25);
			getMC()->setMaxSpeed(ArmWristOffset, 0.25);		

		}

		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);
  }

  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(GripperTrackCameraTwo);

#endif