FourSwedishWheelOmniBaseKinematic.hpp

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#ifndef YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATIC_H
#define YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATIC_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
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 * This program is distributed in the hope that it will be useful,
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 ****************************************************************/
#include <vector>
#include <string>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/base-kinematic/WheeledBaseKinematic.hpp>
#include <youbot_driver/base-kinematic/FourSwedishWheelOmniBaseKinematicConfiguration.hpp>
namespace youbot
{

class FourSwedishWheelOmniBaseKinematic : public WheeledBaseKinematic
{
public:
  FourSwedishWheelOmniBaseKinematic();

  virtual ~FourSwedishWheelOmniBaseKinematic();

  virtual void cartesianVelocityToWheelVelocities(const quantity<si::velocity>& longitudinalVelocity,
                                                  const quantity<si::velocity>& transversalVelocity,
                                                  const quantity<si::angular_velocity>& angularVelocity,
                                                  std::vector<quantity<angular_velocity> >& wheelVelocities);

  virtual void wheelVelocitiesToCartesianVelocity(const std::vector<quantity<angular_velocity> >& wheelVelocities,
                                                  quantity<si::velocity>& longitudinalVelocity,
                                                  quantity<si::velocity>& transversalVelocity,
                                                  quantity<angular_velocity>& angularVelocity);

  virtual void wheelPositionsToCartesianPosition(const std::vector<quantity<plane_angle> >& wheelPositions,
                                                 quantity<si::length>& longitudinalPosition,
                                                 quantity<si::length>& transversalPosition,
                                                 quantity<plane_angle>& orientation);

  virtual void cartesianPositionToWheelPositions(const quantity<si::length>& longitudinalPosition,
                                                 const quantity<si::length>& transversalPosition,
                                                 const quantity<plane_angle>& orientation,
                                                 std::vector<quantity<plane_angle> >& wheelPositions);

  void setConfiguration(const FourSwedishWheelOmniBaseKinematicConfiguration& configuration);

  void getConfiguration(FourSwedishWheelOmniBaseKinematicConfiguration& configuration) const;

private:
  FourSwedishWheelOmniBaseKinematicConfiguration config;

  std::vector<quantity<plane_angle> > lastWheelPositions;

  bool lastWheelPositionInitialized;

  quantity<si::length> longitudinalPos;

  quantity<si::length> transversalPos;

  quantity<plane_angle> angle;

};

} // namespace youbot
#endif