robReflexxes.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):  Anton Deguet, Zerui Wang
  Created on: 2016-02-22
 
  (C) Copyright 2016 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 _robReflexxes_h
#define _robReflexxes_h
 
// forward declarations for Reflexxes types
class ReflexxesAPI;
class RMLPositionInputParameters;
class RMLPositionOutputParameters;
class RMLPositionFlags;
 
#include <cisstVector/vctDynamicVectorTypes.h>
 
// Always include last
#include <cisstRobot/robExport.h>

class CISST_EXPORT robReflexxes {
 
public:
    typedef enum {Reflexxes_NONE, Reflexxes_TIME, Reflexxes_PHASE} SynchronizationType;
    typedef enum {Reflexxes_UNDEFINDED, Reflexxes_WORKING,
                  Reflexxes_FINAL_STATE_REACHED, Reflexxes_ERROR} ResultType;
 
protected:
    bool mIsSet;                          
    size_t mDimension;                    
    SynchronizationType mSynchronization; 
 
    ReflexxesAPI * RML;
    RMLPositionInputParameters * IP;
    RMLPositionOutputParameters * OP;
    RMLPositionFlags * mFlags;
    ResultType mResultValue;
    double mTime;
    vctDoubleVec mCurrentAcceleration;
 
public:
    robReflexxes(void);
    robReflexxes(const vctDoubleVec & MaxVelocity,
                 const vctDoubleVec & MaxAcceleration,
                 const double CycleTime,
                 const SynchronizationType synchronization = Reflexxes_NONE);
    robReflexxes(const vctDoubleVec & MaxVelocity,
                 const vctDoubleVec & MaxAcceleration,
                 const vctDoubleVec & MaxJerk,
                 const double CycleTime,
                 const SynchronizationType synchronization = Reflexxes_NONE);
 
    ~robReflexxes();
 
    void Init(void);
 
    const ResultType & ResultValue(void) const;
 
    double Duration(void) const;
    
    const double & Time(void) const;
    void SetTime(const double & time);
    
    void Set(const vctDoubleVec & MaxVelocity,
             const vctDoubleVec & MaxAcceleration,
             const double CycleTime,
             const SynchronizationType synchronization = Reflexxes_NONE);
 
    void Set(const vctDoubleVec & MaxVelocity,
             const vctDoubleVec & MaxAcceleration,
             const vctDoubleVec & MaxJerk,
             const double CycleTime,
             const SynchronizationType synchronization = Reflexxes_NONE);
 
    /*
      \param current position
      \param current velocity
      \param target position
      \param target velocities
    */
    void Evaluate(vctDoubleVec & CurrentPosition,
                  vctDoubleVec & CurrentVelocity,
                  const vctDoubleVec & TargetPosition,
                  const vctDoubleVec & TargetVelocity);
};
 
#endif // _robReflexxes_h