osaWAM.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 _osaWAM_h
#define _osaWAM_h

#include <cisstVector/vctDynamicMatrix.h>

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


class CISST_EXPORT osaWAM{

 public:

  enum Errno{ ESUCCESS, EFAILURE };

  enum Configuration{ WAM_4DOF, WAM_7DOF };

  enum Mode{ MODE_IDLE, MODE_ACTIVATED };

 private:

  osaWAM::Configuration configuration;

  osaGroup broadcast;
  osaGroup uppertorques;
  osaGroup lowertorques;
  osaGroup upperpositions;
  osaGroup lowerpositions;

  std::vector< osaPuck > pucks;
  
  osaPuck safetymodule;
  
  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:


  osaWAM( osaCANBus* canbus, osaWAM::Configuration configuration = WAM_7DOF );

  ~osaWAM();


  osaWAM::Errno Initialize();

  osaWAM::Configuration GetConfiguration() const { return configuration; }


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

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


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


  osaWAM::Errno SetVelocityWarning( Barrett::Value velocitywarning );


  osaWAM::Errno SetVelocityFault( Barrett::Value velocityfault );


  osaWAM::Errno SetTorqueWarning( Barrett::Value torquewarning );


  osaWAM::Errno SetTorqueFault( Barrett::Value torquefault );

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

  osaWAM::Errno GetMode( osaWAM::Mode& mode );

};

#endif