ReflexxesAPI.cpp

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#include <ReflexxesAPI.h>
#include <TypeIIRMLPosition.h>
#include <TypeIIRMLVelocity.h>
#include <RMLPositionInputParameters.h>
#include <RMLPositionOutputParameters.h>
#include <RMLPositionFlags.h>
#include <RMLVelocityInputParameters.h>
#include <RMLVelocityOutputParameters.h>
#include <RMLVelocityFlags.h>


//****************************************************************************
// ReflexxesAPI()

ReflexxesAPI::ReflexxesAPI(     const unsigned int  &DegreesOfFreedom
                           ,    const double        &CycleTimeInSeconds
                           ,    const unsigned int  &NumberOfAdditionalThreads)
{
    this->NumberOfDOFs          =   DegreesOfFreedom            ;
    this->NumberOfOwnThreads    =   NumberOfAdditionalThreads   ;
    this->CycleTime             =   CycleTimeInSeconds          ;

    this->RMLPositionObject     =   (void*) new TypeIIRMLPosition(      DegreesOfFreedom
                                                                    ,   CycleTimeInSeconds);

    this->RMLVelocityObject     =   (void*) new TypeIIRMLVelocity(      DegreesOfFreedom
                                                                    ,   CycleTimeInSeconds);
}


//****************************************************************************
// ~ReflexxesAPI()

ReflexxesAPI::~ReflexxesAPI(void)
{
    delete  (TypeIIRMLVelocity*)this->RMLVelocityObject;
    delete  (TypeIIRMLPosition*)this->RMLPositionObject;

    this->RMLVelocityObject =   NULL;
    this->RMLPositionObject =   NULL;
}


//****************************************************************************
// RMLPosition()

int ReflexxesAPI::RMLPosition(      const RMLPositionInputParameters    &InputValues
                                ,   RMLPositionOutputParameters         *OutputValues
                                ,   const RMLPositionFlags              &Flags)
{
    return(((TypeIIRMLPosition*)(this->RMLPositionObject))->GetNextStateOfMotion(       InputValues
                                                                                    ,   OutputValues
                                                                                    ,   Flags           ));
}


//****************************************************************************
// RMLPositionAtAGivenSampleTime()

int ReflexxesAPI::RMLPositionAtAGivenSampleTime(    const double                        &TimeValueInSeconds
                                                ,   RMLPositionOutputParameters         *OutputValues)
{
    return(((TypeIIRMLPosition*)(this->RMLPositionObject))->GetNextStateOfMotionAtTime(     TimeValueInSeconds
                                                                                        ,   OutputValues        ));
}


//****************************************************************************
// RMLVelocity()

int ReflexxesAPI::RMLVelocity(      const RMLVelocityInputParameters    &InputValues
                                ,   RMLVelocityOutputParameters         *OutputValues
                                ,   const RMLVelocityFlags              &Flags)
{
    return(((TypeIIRMLVelocity*)(this->RMLVelocityObject))->GetNextStateOfMotion(       InputValues
                                                                                    ,   OutputValues
                                                                                    ,   Flags           ));
}


//****************************************************************************
// RMLVelocityAtAGivenSampleTime()

int ReflexxesAPI::RMLVelocityAtAGivenSampleTime(    const double                        &TimeValueInSeconds
                                                ,   RMLVelocityOutputParameters         *OutputValues)
{
    return(((TypeIIRMLVelocity*)(this->RMLVelocityObject))->GetNextStateOfMotionAtTime(     TimeValueInSeconds
                                                                                        ,   OutputValues        ));
}