FRIData.hh

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#ifndef FRIDATA_HH
#define FRIDATA_HH

class RobotStatus
{
public:
  RobotStatus();

  //TODO: add uptime information

  bool connected;    

  // connection statistics
  float time;        
  float answerRate;  
  float latency;     
  float jitter;      
  float missRate;    
  int missCounter; 

  // interface info
  int state; 
  int quality; 
  float msrSampleTime; 
  float cmdSampleTime; 
  float safety; 

  int calcTimeMean; 
  int calcTimeMax;  

  // general robot info
  int power; 
  int controlMode; 
  int error; 
  int warning; 
  float temperature[7]; 

  // driver stuff
  bool runstop;
};

class RobotData
{
public:
  RobotData();
  int seq;
  float commanded[7];
  float position[7];
  float torque[7];
  float torque_raw[7];
  float torqueTCP[6];
};


class CartesianImpedance
{
public:
  static const float DEFAULT_TRANS_STIFFNESS=50;
  static const float DEFAULT_ROT_STIFFNESS=50;
  static const float DEFAULT_DAMPING=0.7;
  CartesianImpedance();
  float K[6*6]; 
  float D[6*6]; 
  float ft[6];  
  float K_null; 
};


class RobotCommand
{
  static const float DEFAULT_STIFFNESS=40;
  static const float DEFAULT_DAMPING=0.7;
public:
  RobotCommand();
  void incrementPosition(float* newPos, float* currentPos, float rate); 
  float command[7];   
  float stiffness[7]; 
  float damping[7];   
  float addTorque[7]; 

  bool useCartesianImpedance;
  CartesianImpedance cartImpedance;
};

#endif // FRIDATA_HH