public:

void onInit(InitEvent &evt);

double onAction(ActionEvent&);

void onRecvMsg(RecvMsgEvent &evt);

void onCollision(CollisionEvent &evt);

void applyTapAction();

private:

const char* linkName;

CParts *link;

Vector3d initTargetPos;

Rotation initTargetRotation;

Vector3d initToolPos;

Rotation initToolRotation;

Rotation newToolRotation;

Vector3d currentToolPos;

Vector3d currentTargetPos;

Vector3d linkInitPos, linkPos;

Rotation linkInitRotation, linkCurrentRotation;

Vector3d toolVelAtHit;

Vector3d targetVelAtHit;

bool positionData;

bool isTargetAtRest; // to check if target is not moving

bool isToolAtRest; // to check if tool is not moving

bool isNewPoseObtained; // to set tool in a new pose

bool isToolAtDesiredPosition;

bool isXForceVarianceAllowed ;

bool isZForceVarianceAllowed ;

double f_x, f_z;

bool flag;

bool Colli;

int counter;

SimObj *target = getObj("box_015");

SimObj *toolName = getObj("TShapeTool_015");

toolName->setMass(10.0);

target->getPosition(initTargetPos);

target->getRotation(initTargetRotation);

toolName->getPosition(initToolPos);

toolName->getRotation(initToolRotation);

isTargetAtRest = true;

isToolAtRest = true;

f_x = 0 ;

f_z = 0 ;

int xForceVariance = 2000;

int zForceVariance = 2000;

// Reset the forces applied

double r;

r = ((double) rand() / (RAND_MAX)) ;

f_x = r * int(xForceVariance);

f_z = r * int(zForceVariance);

flag = true;

Colli = false;

counter = 0;

forceOnTool_x = 5000 + f_z;

forceOnTool_z = 5000 + f_z;

// cout << "The applied force " << forceOnTool_x << " , " << forceOnTool_z << endl;

forceOnTool.set(forceOnTool_x, 0 , forceOnTool_z);

tapWithTool(toolName, initToolRotation, forceOnTool);

myfile.flush(); // I have uncommented the file, because I want to overwrite the file.

// if (myfile.is_open())

// {

// myfile << "Action" << " , " << "FunctionalFeature" << " , " ;

// myfile << "forceOnTool_X" << " , " << "forceOnTool_Z " << " , ";

// myfile << "toolVelAtHit_X" << " , " << "toolVelAtHit_Z" << " , ";

// myfile << "InitialToolPos_X" << " , " << "InitialToolPos_Z" << " , ";

// myfile << "InitialTargetPos_X" << " , " << "InitialTargetPos_Z" << " , ";

// myfile << "targetFinalPos_X" << " , " << "targetFinalPos_Z" << " , ";

// myfile << "targetDisplacement_X" << " , " << "targetDisplacement_Z";

// myfile << "\n" ;

// }

int actionNumber = 5;

int functionalFeature = 3;

myfile << setprecision(2) << std::fixed;

SimObj *target = getObj("box_015");

SimObj *toolName = getObj("TShapeTool_015");

maintainOrientationOfTool(toolName, initToolRotation);

isToolAtRest = checkEntityMotionStatus(toolName); // checks whether the tool is moving by calculating its velocity

isTargetAtRest = checkEntityMotionStatus(target); // checks whether the object is moving by calculating its velocity

if(isToolAtRest)

{

toolName->getPosition(currentToolPos);

}

if (isTargetAtRest && isToolAtRest)

{

target->getPosition(currentTargetPos);

}

if (isTargetAtRest && isToolAtRest && flag )

{

myfile << actionNumber << " , " << functionalFeature << " , " ;

myfile << forceOnTool_x << " , " << forceOnTool_z << " , " ;

myfile << initToolPos.x() << " , " << initToolPos.z() << " , " ;

myfile << initTargetPos.x() << " , " << initTargetPos.z() << " , " ;

myfile << currentTargetPos.x() << " , " << currentTargetPos.z() << " , " ;

myfile << currentTargetPos.x() - initTargetPos.x() << " , " << currentTargetPos.z() - initTargetPos.z();

myfile << "\n";

cout << "The simulation for " << actionNumber << " , " << functionalFeature << " has been recorded" << endl;

// exit(0);

flag = false;

}

return 0.01;

Colli = true;

counter ++ ;

SimObj *target = getObj("box_001");

SimObj *toolName = getObj("TShapeTool_001");

if(Colli && counter == 1 )

{

toolName->getLinearVelocity(toolVelAtHit);

target->getLinearVelocity(targetVelAtHit);

cout << "The tool velocity is " << toolVelAtHit.x() << " , " << toolVelAtHit.z() << endl;

cout << "The target velocity is " << targetVelAtHit.x() << " , " << targetVelAtHit.z() << endl;

myfile << toolVelAtHit.x() << " , " << toolVelAtHit.z() << " , " ;

myfile << targetVelAtHit.x() << " , " << targetVelAtHit.z() << " , " ;

Colli = false;

}