genericArmCtrl.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * 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 __GENERIC_ARM_CTRL_V4_H_
#define __GENERIC_ARM_CTRL_V4_H_

#include "ros/ros.h"
//#include "Manipulation/ManipUtil/Joint.h"
//#include "ManipUtil/datastructsManipulator.h"
//#include "ManipUtil/ManipulatorXML.h"
//#include "Interfaces/KinematicsInterface.h"
//#include "Interfaces/armInterface_ctrl.h"

#include <trajectory_msgs/JointTrajectory.h>

#include <cob_trajectory_controller/RefVal_JS.h>
#include <cob_trajectory_controller/TimeStamp.h>

class genericArmCtrl
{
        public:

                genericArmCtrl(int DOF, double PTPvel = 0.7, double PTPacc = 0.2, double maxError = 0.7);
                ~genericArmCtrl();

                std::vector<double> GetPTPvel() const;
                std::vector<double> GetPTPacc() const;
                void SetPTPvel(double vel);
                void SetPTPacc(double acc);

                double overlap_time;

                // void stop(); --> TODO: better reset

                bool step(std::vector<double> current_pos, std::vector<double> & desired_vel);

                bool moveThetas(std::vector<double> conf_goal, std::vector<double> conf_current);
                bool moveTrajectory(trajectory_msgs::JointTrajectory pfad, std::vector<double> conf_current);


//              bool movePos(AbsPos position);

                int m_DOF;

                RefVal_JS* m_pRefVals;

                std::vector<double> m_vel_js;
                std::vector<double> last_q;
                std::vector<double> last_q1;
                std::vector<double> last_q2;
                std::vector<double> last_q3;
                std::vector<double> m_acc_js;
                bool isMoving;

                TimeStamp startTime_;
                double TotalTime_;
                double m_P;
                double m_Vorsteuer;
                double m_AllowedError;
                double m_CurrentError;
                double m_TargetError;
                double m_ExtraTime;     // Zusätzliche Zeit, um evtl. verbleibende Regelfehler auszuregeln
};



#endif