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OncillaHip.h
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Thu, May 9, 16:20
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R6622 liboncilla
OncillaHip.h
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#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <cca/dto/debug/DebugDTO.h>
#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
OncillaHipSagittal
;
typedef
boost
::
shared_ptr
<
OncillaHipSagittal
>
OncillaHipSagittalPtr
;
/**
* Node class, representing the hip node of the quadruped robot.
*
* @todo In case of simulation, this node can also sense the power consumption.
*/
class
OncillaHipSagittal
:
public
rci
::
ResourceNode
,
public
rci
::
Controlled
,
public
rci
::
Sensing
,
public
rci
::
PositionControlled
,
public
rci
::
PositionSensing
,
// Two encoder values
public
rci
::
VelocityControlled
,
public
rci
::
TorqueControlled
,
public
rci
::
ImpedanceControlled
{
public:
/**
* Special constructor to also link to webots
*/
OncillaHipSagittal
(
std
::
string
name
=
"Oncilla Hip"
);
virtual
~
OncillaHipSagittal
();
/**
* 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 Position command
* @return Return, if successfull. (e.g. not exceeding joint limits)
* @todo Check for correct control mode
*/
virtual
bool
setJointVelocity
(
cca
::
rci
::
JointVelocitiesPtr
vel
);
/**
* Returns current joint torque.
* @return Current joint torque
*/
virtual
bool
setJointTorque
(
JointTorquesPtr
torque
);
/**
* Returns current joint torque.
* @return Current joint torque
*/
virtual
bool
setJointImpedance
(
JointImpedancePtr
imped
);
/**
* 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
;
/**
* Main data-flow process method
* Main data-flow process method. Every time called, when a new data-flow
* item arrives.
* @todo marshalling and calling control methods
*/
void
onProcess
();
/**
* Print
*/
std
::
string
print
()
const
;
/**
* Shared Pointer Factory
*/
static
CCANodePtr
create
(
std
::
string
name
=
"Oncilla Hip"
);
};
class
OncillaHipTransverse
;
typedef
boost
::
shared_ptr
<
OncillaHipTransverse
>
OncillaHipTwoPtr
;
/**
* Node class, representing the hip node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class
OncillaHipTransverse
:
public
rci
::
ResourceNode
,
public
rci
::
Controlled
,
public
rci
::
PositionControlled
{
public:
/**
* Special constructor to also link to webots
*/
OncillaHipTransverse
(
std
::
string
name
=
"Oncilla Hip"
);
virtual
~
OncillaHipTransverse
();
/**
* 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 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
;
/**
* Main data-flow process method
* Main data-flow process method. Every time called, when a new data-flow
* item arrives.
* @todo marshalling and calling control methods
*/
void
onProcess
();
/**
* Print
*/
std
::
string
print
()
const
;
/**
* Shared Pointer Factory
*/
static
CCANodePtr
create
(
std
::
string
name
=
"Oncilla Hip"
);
};
}
}
}
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