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L0.h
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Created
Sun, Jul 28, 02:25
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text/x-c++
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Tue, Jul 30, 02:25 (1 d, 23 h)
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19401664
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R6622 liboncilla
L0.h
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#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace rci {
namespace oncilla {
/**
* Node class, representing the hip node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class L0: public rci::ResourceNode,
public rci::Controlled,
public rci::PositionControlled,
public rci::Sensing,
public rci::ForceSensing{
public:
typedef boost::shared_ptr<L0> Ptr;
L0(const std::string &name = "Oncilla Scapula");
virtual ~L0();
/**
* Returns, if the controller is converged.
* \note This always return false for Oncilla : reason we use PWM
* controlled servos for this joint.
* \return always false, always.
*/
bool isConverged() const;
/**
* Print
*/
std::string print() const;
protected :
/**
* Helper function to get command in derived classes.
* \internal
*/
double unsafeGetCommand() const;
/**
* Helper function to update forces in derived classes.
* \internal
*/
void unsafeUpdateForce(double x, double y,double torque);
};
}
}
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