simulatedMotor.h

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#ifndef _SIMULATED_MOTOR_H_
#define _SIMULATED_MOTOR_H_

#include <schunk_powercube_chain/moveCommand.h>
#include <string>

class simulatedMotor
{
        public:
                
                simulatedMotor(double lowLimit, double upLimit, double maxAcc, double maxVel);
                ~simulatedMotor() {;}
                
                virtual bool init() { return true; }

                virtual std::string getErrorMessage() { return std::string("No Errors."); }
                
                // virtual void setDebugOutput(ostream* os) { deb = os; }
                
                // Zunächst die Steuerungs-Funktionen: //

                virtual void moveRamp(double targetAngle, double vmax, double amax);
        
                virtual void moveVel(double vel);
                
                virtual void movePos(double pos);
                
                virtual void stop();
                
                // Funktionen zum setzen und auslesen von Parametern: //
                
                virtual void setMaxVelocity(double radpersec) { m_vmax = radpersec; }
                virtual double getMaxVelocity() { return m_vmax; }
                
                virtual void setMaxAcceleration(double radPerSecSquared) { m_amax = radPerSecSquared; }
                virtual double getMaxAcceleration() { return m_amax; }
                
                virtual void setLimits(double lowerLimit, double upperLimit)
                        { m_ul = upperLimit; m_ll = lowerLimit; }
                virtual double getUpperLimit() { return m_ul; }
                virtual double getLowerLimit() { return m_ll; }
                
                virtual void setTimeConstant(double T) { T0 = T; }
                virtual double getTimeConstant() const { return T0; }
                
                // hier die Funktionen zur Statusabfrage: //
                
                virtual RampCommand getRampMove(double targetAngle, double v, double a);
                
                virtual RampCommand getRampMove(double targetAngle) { return getRampMove(targetAngle, m_vmax, m_amax); }
                
                virtual double getAngle() { return m_lastMove.getPos(); }
                
                virtual double getVelocity() { return m_lastMove.getVel(); }
                
                virtual bool statusMoving() { return m_lastMove.isActive(); }
                
                virtual bool statusDec() { return m_lastMove.inPhase3(); }
                
                virtual bool statusAcc() { return m_lastMove.inPhase1(); }
                
        private:
                
                RampCommand m_lastMove;
                
                double m_ul, m_ll;                      // upper limit and lower limit
                double m_amax, m_vmax;          // Never mover faster than this!
                
                double T0;                                      // Zeitkonstante für Annäherung der Sprungantwort durch Rampe
                
                //ostream * deb;
};


#endif