mtsVFBase.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Paul Wilkening
  Created on: 2014
 
  (C) Copyright 2014 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 _mtsVFBase_h
#define _mtsVFBase_h
 
#include <sawConstraintController/prmKinematicsState.h>
#include <sawConstraintController/prmSensorState.h>
#include <sawConstraintController/mtsVFDataBase.h>
#include <cisstNumerical/nmrConstraintOptimizer.h>
 
// Always include last!
#include <sawConstraintController/sawConstraintControllerExport.h>


class CISST_EXPORT mtsVFBase: public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_LOD_RUN_VERBOSE)
 
public:
 
        enum CONTROLLERMODE {JPOS = 1, JVEL = 2, CARTPOS = 3, CARTVEL = 4};

    std::string Name;

    mtsVFDataBase * Data;

    std::vector<prmKinematicsState *> Kinematics;

    std::vector<prmSensorState *> Sensors;
 
    static std::string DefaultKinematicsName;
 
    vctDoubleVec DOFSelections;

    vctDynamicMatrixRef<double> ObjectiveMatrixRef;

    vctDynamicMatrixRef<double> ObjectiveMatrixSlackRef;

    vctDynamicVectorRef<double> ObjectiveVectorRef;

    vctDynamicMatrixRef<double> IneqConstraintMatrixRef;

    vctDynamicMatrixRef<double> IneqConstraintMatrixSlackRef;

    vctDynamicVectorRef<double> IneqConstraintVectorRef;

    vctDynamicVectorRef<double> IneqConstraintVectorSlackRef;

    vctDynamicMatrixRef<double> EqConstraintMatrixRef;

    vctDynamicMatrixRef<double> EqConstraintMatrixSlackRef;

    vctDynamicVectorRef<double> EqConstraintVectorRef;
 
public:

    mtsVFBase(){}

    mtsVFBase(const std::string & name, mtsVFDataBase * data);
 
    ~mtsVFBase() {
        delete Data;
    }

    virtual void ComputeConstraintSize() {}


    void ReserveSpace(nmrConstraintOptimizer & co);


    void LookupStateData(const std::map<std::string, prmKinematicsState *> & k, const std::map<std::string, prmSensorState *> & s);


    void SetTableauRefs(nmrConstraintOptimizer & co);
 
    // This will be overloaded by subclasses that use this data in specific ways
    // For example, one can also take an osaSensorValue object relating to the force sensor

    virtual void FillInTableauRefs(const mtsVFBase::CONTROLLERMODE Mode, const double TickTime) = 0;
 
    vctDoubleMat Skew(const vctDoubleVec & in);

    virtual void ConvertRefs(const mtsVFBase::CONTROLLERMODE mode, const double TickTime) = 0;
 
    virtual void AssignRefs(const mtsVFBase::CONTROLLERMODE, const double, const vctDoubleVec & ,vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &){}
 
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsVFBase)
 
#endif // _mtsVFBase_h