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ResetEntity.h
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ResetEntity.h
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#ifndef _RESETENTITY_H
#define _RESETENTITY_H
#include "ControllerEvent.h"
#include "Controller.h"
#include "Logger.h"
#include <iostream>
#include <fstream>
#include <iomanip>
#include <boost/python.hpp>
#include <Python.h>
#include <dlfcn.h>
#include "ControlPosition.h"
using namespace std;
bool resetEntityToolPosition(SimObj *entity, Vector3d desiredPosition);
bool resetEntityTargetPosition(SimObj *entity, SimObj *baseTool, Vector3d desiredPosition); // baseTool is the tool whose initial position is taken as the origin.
bool resetEntityOrientation(SimObj *entity, Rotation goalRotation);
float randomFloat(float min, float max);
bool newEntityPose(SimObj *entity, Rotation initToolRotation, double randomStep);
bool resetRandomTargetOrientation(SimObj *entity);
// double* resetToNewToolRotation(SimObj *entity, Rotation initialRotation);
void maintainOrientationOfTool(SimObj * entity, Rotation initialToolRot);
#endif