dcm.hpp

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/*
 * Copyright 2016 SoftBank Robotics Europe
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef DCM_HPP
#define DCM_HPP

// NAOqi Headers
#include <qi/session.hpp>

class DCM
{
public:
  DCM(const qi::SessionPtr& session,
      const double &controller_freq);

  bool init(const std::vector <std::string> &joints);

  void writeJoints(const std::vector <double> &joint_commands);

  bool setStiffness(const float &stiffness);

  int getTime(const int &offset);

private:
  void createPositionActuatorCommand(const std::vector <std::string> &joints);

  bool createPositionActuatorAlias(const std::vector <std::string> &joints);

  bool createHardnessActuatorAlias(const std::vector <std::string> &joints);

  bool DCMAliasTimedCommand(const std::string& alias,
                            const float& values,
                            const int& timeOffset,
                            const std::string& type_update="Merge");

  qi::AnyObject dcm_proxy_;

  std::vector <qi::AnyValue> commands_;

  std::vector <std::vector <std::vector <qi::AnyValue> > > commands_values_;

  double controller_freq_;
};
#endif // DCM_HPP