1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOT_CLAMP_WORKSPACE_HH__ |
11 |
|
|
#define __SOT_CLAMP_WORKSPACE_HH__ |
12 |
|
|
|
13 |
|
|
/* STL */ |
14 |
|
|
#include <utility> |
15 |
|
|
|
16 |
|
|
/* Matrix */ |
17 |
|
|
#include <dynamic-graph/linear-algebra.h> |
18 |
|
|
|
19 |
|
|
/* SOT */ |
20 |
|
|
#include <dynamic-graph/all-signals.h> |
21 |
|
|
#include <dynamic-graph/entity.h> |
22 |
|
|
|
23 |
|
|
#include <sot/core/exception-task.hh> |
24 |
|
|
#include <sot/core/matrix-geometry.hh> |
25 |
|
|
|
26 |
|
|
/* --------------------------------------------------------------------- */ |
27 |
|
|
/* --- API ------------------------------------------------------------- */ |
28 |
|
|
/* --------------------------------------------------------------------- */ |
29 |
|
|
|
30 |
|
|
#if defined(WIN32) |
31 |
|
|
#if defined(clamp_workspace_EXPORTS) |
32 |
|
|
#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllexport) |
33 |
|
|
#else |
34 |
|
|
#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllimport) |
35 |
|
|
#endif |
36 |
|
|
#else |
37 |
|
|
#define SOTCLAMPWORKSPACE_EXPORT |
38 |
|
|
#endif |
39 |
|
|
|
40 |
|
|
namespace dynamicgraph { |
41 |
|
|
namespace sot { |
42 |
|
|
|
43 |
|
|
/* --------------------------------------------------------------------- */ |
44 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
45 |
|
|
/* --------------------------------------------------------------------- */ |
46 |
|
|
|
47 |
|
|
class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity { |
48 |
|
|
public: |
49 |
|
|
static const std::string CLASS_NAME; |
50 |
|
|
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
51 |
|
|
|
52 |
|
|
/* --- SIGNALS ------------------------------------------------------------ */ |
53 |
|
|
public: |
54 |
|
|
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionrefSIN; |
55 |
|
|
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
56 |
|
|
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphaSOUT; |
57 |
|
|
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphabarSOUT; |
58 |
|
|
dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT; |
59 |
|
|
|
60 |
|
|
public: |
61 |
|
|
ClampWorkspace(const std::string &name); |
62 |
|
|
virtual ~ClampWorkspace(void) {} |
63 |
|
|
|
64 |
|
|
void update(int time); |
65 |
|
|
|
66 |
|
|
virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res, |
67 |
|
|
int time); |
68 |
|
|
virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res, |
69 |
|
|
int time); |
70 |
|
|
virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time); |
71 |
|
|
|
72 |
|
|
virtual void display(std::ostream &) const; |
73 |
|
|
|
74 |
|
|
private: |
75 |
|
|
int timeUpdate; |
76 |
|
|
|
77 |
|
|
dynamicgraph::Matrix alpha; |
78 |
|
|
dynamicgraph::Matrix alphabar; |
79 |
|
|
MatrixHomogeneous prefMp; |
80 |
|
|
dynamicgraph::Vector pd; |
81 |
|
|
MatrixRotation Rd; |
82 |
|
|
MatrixHomogeneous handref; |
83 |
|
|
|
84 |
|
|
double beta; |
85 |
|
|
double scale; |
86 |
|
|
double dm_min; |
87 |
|
|
double dm_max; |
88 |
|
|
double dm_min_yaw; |
89 |
|
|
double dm_max_yaw; |
90 |
|
|
double theta_min; |
91 |
|
|
double theta_max; |
92 |
|
|
int mode; |
93 |
|
|
|
94 |
|
|
enum { FRAME_POINT, FRAME_REF } frame; |
95 |
|
|
|
96 |
|
|
std::pair<double, double> bounds[3]; |
97 |
|
|
}; |
98 |
|
|
|
99 |
|
|
} /* namespace sot */ |
100 |
|
|
} /* namespace dynamicgraph */ |
101 |
|
|
|
102 |
|
|
#endif |