robCollaborativeControlForce.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): Gorkem Sevinc, Anton Deguet
  Created on: 2009-08-20

  (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 _robCollaborativeControlForce_h
#define _robCollaborativeControlForce_h

#include <cisstCommon/cmnAccessorMacros.h>
#include <cisstVector/vctTypes.h>

//Always include last
#include <cisstRobot/robExport.h>

#error "This class is deprecated, do not use"

class CISST_EXPORT robCollaborativeControlForce {

public:
    class CISST_EXPORT ParameterType {

    public:
        enum ForceModeType {RAW, RATCHETED, CAPPED};
        CMN_DECLARE_MEMBER_AND_ACCESSORS(ForceModeType, ForceMode);
        CMN_DECLARE_MEMBER_AND_ACCESSORS(double, ForceFeedbackRatio); //ForceMasterCoefficient
        CMN_DECLARE_MEMBER_AND_ACCESSORS(double, LinearGainMaster); //ScaleFactor
        CMN_DECLARE_MEMBER_AND_ACCESSORS(double, LinearGainSlave);
        CMN_DECLARE_MEMBER_AND_ACCESSORS(double, PositionLimit); // FMax
        CMN_DECLARE_MEMBER_AND_ACCESSORS(double, MasterToSlaveScale);
    public:
        void ToStream(std::ostream & outputStream) const;

        void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                     bool headerOnly = false, const std::string & headerPrefix = "") const;

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

        void DeSerializeRaw(std::istream & inputStream);
    };

    robCollaborativeControlForce(void);
    robCollaborativeControlForce(double linearGainMaster,
                                 double linearGainSlave, 
                                 double forceLimit,
                                 ParameterType::ForceModeType forceMode,
                                 double masterToSlaveScale,
                                 double forceFeedbackRatio);
    ~robCollaborativeControlForce(void) {};
    void SetParameters(const ParameterType & commandedParameter);

    void Update(const vct3 & p1, 
                const vct3 & p2,
                const bool ClutchMaster,
                const bool ClutchSlave,
                vctFixedSizeVector<double, 6> & ForceMaster,
                vctFixedSizeVector<double, 6> & ForceSlave);

protected:
    vct3 WorkspaceOffset;
    vct3 ClutchOffset;
    vct3 LeftClutchOffset;
    vct3 RightClutchOffset;
    vct3 LeftClutchMSOffset;
    vct3 RightClutchMSOffset;
    vct3 Error;
    vct3 p1Goal;
    vct3 p2Goal;
    vct3 p1RGoal;
    vct3 p2RGoal;
    vct3 p1Clutched;
    vct3 p2Clutched;
    vct3 p1R;
    vct3 p2R;
    vct3 p1Last;
    vct3 p2Last;
    
    bool        FirstIteration;
    bool        ClutchDone;
    bool        BothClutched;
    bool        ClutchOffsetAdd;
    int         ClutchMode;
    double      ForceFeedNormMaster;
    double      ForceFeedNormSlave;
    vctFrm3 RelativeTransform;

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, ApplicationMasterClutch);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, ApplicationSlaveClutch);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, ApplicationMasterSlaveClutch);
    CMN_DECLARE_MEMBER_AND_ACCESSORS(ParameterType, Parameter);

private:

};

#endif //robCollaborativeControlForce