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OncillaKnee.h
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Fri, Aug 30, 06:14
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R6622 liboncilla
OncillaKnee.h
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#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/nodes/ResourceNode.h>
#include <rci/nodes/Controlled.h>
#include <rci/nodes/Configurable.h>
#include <rci/nodes/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace
cca
{
namespace
rci
{
namespace
driver
{
class
OncillaKnee
;
typedef
boost
::
shared_ptr
<
OncillaKnee
>
OncillaKneePtr
;
/**
* Node class, representing the knee node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class
OncillaKnee
:
public
rci
::
ResourceNode
,
public
rci
::
Controlled
,
public
rci
::
Sensing
,
public
rci
::
PositionControlled
,
public
rci
::
PositionSensing
,
public
rci
::
VelocityControlled
,
public
rci
::
TorqueControlled
,
public
rci
::
ImpedanceControlled
{
public:
OncillaKnee
(
std
::
string
name
=
"Oncilla Knee"
);
virtual
~
OncillaKnee
();
/**
* Returns, if controller is converged.
* @return True, if controller is converged after last command.
*/
bool
isConverged
()
const
;
/**
* Commanding a joint position.
* @param position Position command
* @return Return, if successfull. (e.g. not exceeding joint limits)
* @todo Check for correct control mode
*/
bool
setJointPosition
(
JointAnglesPtr
position
);
/**
* Returns current joint position.
* @return Current joint position
*/
virtual
JointAnglesPtr
getJointPosition
()
const
;
/**
* Commanding a joint velocity.
* @param position Velocity command
* @return Return, if successfull. (e.g. not exceeding joint limits)
* @todo Check for correct control mode
*/
bool
setJointVelocity
(
JointVelocitiesPtr
vel
);
/**
* Commanding a joint velocity.
* @param position Velocity command
* @return Return, if successfull. (e.g. not exceeding joint limits)
* @todo Check for correct control mode
*/
bool
setJointImpedance
(
JointImpedancePtr
imped
);
/**
* Commanding a joint torque.
* @param position Torque command
* @return Return, if successfull. (e.g. not exceeding joint limits)
* @todo Check for correct control mode
*/
virtual
bool
setJointTorque
(
cca
::
rci
::
JointTorquesPtr
torques
);
/**
* Returns latest position command. Note, that this is the latest valid
* commanded position. If the position command exceeds limits and is
* therefore rejected, it ..
*/
virtual
JointAnglesPtr
getLastPositionCommand
()
const
;
/**
* Print
*/
std
::
string
print
()
const
;
};
}
}
}
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