osaBH8_280.h

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/*
  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaBH8_280_h
#define _osaBH8_280_h

#include <cisstVector/vctDynamicMatrix.h>

#include <sawBarrett/osaPuck.h>
#include <sawBarrett/osaGroup.h>
#include <sawBarrett/sawBarrettExport.h>


class CISST_EXPORT osaBH8_280{

 public:

  enum Errno{ ESUCCESS, EFAILURE };

 private:

  //osaGroup broadcast;
  osaGroup hand;
  osaGroup handposition;

  std::vector< osaPuck > pucks;
  
  vctDynamicVector<double> qinit;


  vctDynamicMatrix<double> mpos2jpos;


  vctDynamicMatrix<double> jpos2mpos;


  vctDynamicMatrix<double> jtrq2mtrq;


  vctDynamicVector<double> 
    MotorsPos2JointsPos( const vctDynamicVector<double>& q );


  vctDynamicVector<double> 
    JointsPos2MotorsPos( const vctDynamicVector<double>& q );


  vctDynamicVector<double> 
    JointsTrq2MotorsTrq( const vctDynamicVector<double>& t );

 public:


  osaBH8_280( osaCANBus* canbus );

  ~osaBH8_280();


  osaBH8_280::Errno Initialize();

  //osaBH8_280::Configuration GetConfiguration() const { return configuration; }


  osaBH8_280::Errno GetPositions( vctDynamicVector<double>& positions );
  

  osaBH8_280::Errno SetPositions( const vctDynamicVector<double>& positions );


  //osaBH8_280::Errno SetTorques( const vctDynamicVector<double>& torques );


  //osaBH8_280::Errno SetVelocityWarning( Barrett::Value velocitywarning );


  //osaBH8_280::Errno SetVelocityFault( Barrett::Value velocityfault );


  //osaBH8_280::Errno SetTorqueWarning( Barrett::Value torquewarning );


  //osaBH8_280::Errno SetTorqueFault( Barrett::Value torquefault );

  osaBH8_280::Errno SetMode( Barrett::Value mode );

  void Hi();

};

#endif