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WebotsSynchronizer.h
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Mon, Aug 26, 17:20
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text/x-c++
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Wed, Aug 28, 17:20 (2 d)
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R6622 liboncilla
WebotsSynchronizer.h
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/**
* \file WebotsSynchronizer.h
*
* \date Aug 22, 2010
* \author tuleu
* \author anordman
*/
#pragma once
#include <boost/smart_ptr/shared_ptr.hpp>
#include <rci/processing/Synchronizer.h>
#include <libamarsi-quad/libamarsi-quad.h>
#include "libamarsi-quad/controller/internals/ControllerPrimpleAmarsi.h"
#include <rcioncilla/QuadTrunkNode.h>
#include <rcioncilla/QuadHipNode.h>
#include <rcioncilla/QuadKneeNode.h>
#include <rcioncilla/QuadAnkleNode.h>
namespace
cca
{
namespace
rci
{
namespace
driver
{
class
WebotsSynchronizer
;
typedef
boost
::
shared_ptr
<
WebotsSynchronizer
>
WebotsSynchronizerPtr
;
/**
* @todo Use amarsi::Clock?
*/
class
WebotsSynchronizer
:
public
Synchronizer
,
public
amarsi
::
Controller
{
public:
WebotsSynchronizer
(
int
&
argc
,
char
**
argv
);
virtual
~
WebotsSynchronizer
();
virtual
int
run
();
virtual
void
userInitSimulation
();
virtual
void
userInitEnvironment
();
/* CCA-specific */
static
CCANodePtr
create
(
int
&
argc
,
char
**
argv
);
virtual
std
::
string
print
()
const
;
virtual
void
send
();
virtual
void
receive
();
void
registerQuadNode
(
CCANodePtr
node
,
amarsi
::
ActuatorID
index
);
bool
_running
;
protected:
amarsi
::
ControllerPrimpleAmarsi
*
_primpleAmarsi
;
private:
//amplitude of oscillation for the Hip joints.
double
d_amplitudeHip
;
//offset of the oscillations for the Hip Joint.
double
d_offsetHip
;
//amplitude of the extension/contraction of the leg
double
d_amplitudeKnee
;
//offset of the knee command
double
d_offsetKnee
;
//frequency of the oscillations
double
d_frequency
;
// angle of the slope
double
d_angle
;
std
::
vector
<
std
::
string
>
_actuatorNames
;
std
::
vector
<
std
::
string
>
_servoNames
;
void
prepareNodeWebotsMapping
();
};
}
}
}
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