KatanaKinematics.h

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/***************************************************************************
 *   Copyright (C) 2006 by Tiziano Mueller   *
 *   tiziano.mueller@neuronics.ch   *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef KATANAKINEMATICS_H
#define KATANAKINEMATICS_H

#include "common/dllexport.h"
#include "common/exception.h"

#include <vector>


namespace KNI {



class NoSolutionException : public Exception {
public:
    NoSolutionException() throw(): 
        Exception("No solution found", -60) {}

};


struct DLLDIR_IK KinematicParameters {
    double angleOffset;
    double angleStop;
    int epc;
    int encOffset;
    int rotDir;
};

class DLLDIR_IK KatanaKinematics {
public:
    virtual ~KatanaKinematics() {}

    typedef std::vector<KinematicParameters>    parameter_container;

    typedef std::vector<double> angles;
    typedef std::vector<double> coordinates;
    typedef std::vector<double> metrics;
    typedef std::vector<int>    encoders;

    virtual void init(metrics const& length, parameter_container const& parameters) = 0;

    virtual void DK(coordinates& solution, encoders const& current_encoders) const = 0;

    virtual void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const = 0;

};

}

#endif