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OncillaL0.h
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Sun, Aug 25, 16:12
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Tue, Aug 27, 16:12 (1 d, 23 h)
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R6622 liboncilla
OncillaL0.h
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#pragma once
#include <iostream>
#include <tr1/memory>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
#include "OncillaSynchronizer.h"
namespace rci {
namespace oncilla {
class OncillaL0;
typedef std::tr1::shared_ptr<OncillaL0> OncillaL0Ptr;
/**
* Node class, representing the hip node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class OncillaL0: public rci::ResourceNode,
public rci::Controlled,
public rci::PositionControlled {
public:
/**
* Special constructor to also link to webots
*/
OncillaL0(const std::string &name = "Oncilla Hip");
virtual ~OncillaL0();
/**
* 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);
void setRawLocalCommand(double value);
double getRawLocalCommand() const;
/**
* 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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