prmActuatorParameters.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):  Marcin Balicki
Created on: 2008-08-07

(C) Copyright 2008 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 _prmActuatorParameters_h
#define _prmActuatorParameters_h

#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstMultiTask/mtsStateIndex.h>
#include <cisstMultiTask/mtsMacros.h>
#include <cisstMultiTask/mtsVector.h>

// Always include last
#include <cisstParameterTypes/prmExport.h>


class CISST_EXPORT prmActuatorParameters: public mtsGenericObject

{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

private:


public:
    typedef prmActuatorParameters ThisType;
    typedef mtsGenericObject BaseType;
    typedef unsigned int size_type;


    prmActuatorParameters() {};
    //initial size
    inline prmActuatorParameters(size_type size) { SetSize(size);};

    void SetSize(size_type size);

    virtual ~prmActuatorParameters(){};


    void SerializeRaw(std::ostream & outputStream) const;

    void DeSerializeRaw(std::istream & inputStream);


    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, ForwardLimit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, ReverseLimit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxVelocity);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxAcceleration);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxDeceleration);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, LimitSwitchDeccelaration);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Counts_per_mm);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(int, AxisSign);

    //PID Servo Loop Controll Parameters
    //these are only changed in special cases, so right now there is no accessors for them.


    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Kp);   //Proportional

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Kd); //Derivative

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Ki); //Integral

    //if IL is positive, Ki works all the time, otherwise IL works only after move is finished
    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, IL); //Integrator limit


    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, FV); //FeedForward Velocity Parameters

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, FA); //FeedForward Acceleration Parameters

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueLimit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueLimitPeak);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueOffset); //Torque offset parameter, used for break.

}; // _prmActuatorParameters_h

CMN_DECLARE_SERVICES_INSTANTIATION(prmActuatorParameters)

#endif