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liboncilla/src/OncillaL1.h
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OncillaL1.h
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#pragma once
#include <tr1/memory>
#include <rci/dto/JointAngles.h>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Sensing.h>
#include "OncillaSynchronizer.h"
namespace rci{
namespace oncilla{
class OncillaL1;
typedef std::tr1::shared_ptr<OncillaL1> OncillaL1Ptr;
/**
* Node class, representing the hip node of the quadruped robot.
*
* @todo In case of simulation, this node can also sense the power consumption.
*/
class OncillaL1: 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:
const static unsigned int MotorAxisIndex = 0;
const static unsigned int MagneticEncoderIndex = 1;
/**
* Special constructor to also link to webots
*/
OncillaL1(OncillaSynchronizer &s, const std::string &name = "Oncilla Hip");
virtual ~OncillaL1();
/**
* 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 current joint position.
* @return Current joint position
*/
virtual JointAnglesPtr getJointPosition() const;
double getRawLocalMotorAxisPosition() const;
double getRawLocalMagneticEncoderPosition() const;
void updateRawLocalMotorAxisPosition(double value);
void updateRawLocalMagneticEncoderPosition(double value);
/**
* 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(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;
/**
* Print
*/
std::string print() const;
private:
/**
* Reference to OncillaSynchronizer
* @todo This is a dangerous reference which will become invalid as soon as
* OncillaSynchronizer gets deleted outside.
*/
OncillaSynchronizer &synchronizer;
};
}
}
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