darwin_kinematics_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _darwin_kinematics_alg_h_
#define _darwin_kinematics_alg_h_

#include <iri_darwin_kinematics/DarwinKinematicsConfig.h>
#include "mutex.h"

//include darwin_kinematics_alg main library
#include "darwin_kinematics.h"

class DarwinKinematicsAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    CDarwinArmKinematics left_arm;// left arm kinematics
    CDarwinArmKinematics right_arm;// right arm_kinematics

  public:
    typedef iri_darwin_kinematics::DarwinKinematicsConfig Config;

    Config config_;

    DarwinKinematicsAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all darwin_kinematics_alg interface methods to retrieve and set
    // the driver parameters
    std::vector<double> get_left_arm_fk(std::vector<double> &angles);
    bool get_left_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution);
    void get_left_arm_upper_limits(std::vector<double> &upper);
    void get_left_arm_lower_limits(std::vector<double> &lower);

    std::vector<double> get_right_arm_fk(std::vector<double> &angles);
    bool get_right_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution);
    void get_right_arm_upper_limits(std::vector<double> &upper);
    void get_right_arm_lower_limits(std::vector<double> &lower);
    ~DarwinKinematicsAlgorithm(void);
};

#endif