neck-limitation.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_NeckLimitation_H__
#define __SOT_NeckLimitation_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>

#include <sot/core/task-abstract.hh>

/* STD */
#include <list>
#include <map>
#include <string>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(neck_limitation_EXPORTS)
#define NeckLimitation_EXPORT __declspec(dllexport)
#else
#define NeckLimitation_EXPORT __declspec(dllimport)
#endif
#else
#define NeckLimitation_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

class NeckLimitation_EXPORT NeckLimitation : public dynamicgraph::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }

 protected:
  unsigned int panRank, tiltRank;
  static const unsigned int PAN_RANK_DEFAULT;
  static const unsigned int TILT_RANK_DEFAULT;

  /* The limitation is: sgn.Tilt >= Pan.alpha + beta, with alpha the linear
   * coefficient and beta the affine one, and sgn is +1 or -1. */
  double coeffLinearPan, coeffAffinePan;
  double signTilt;
  static const double COEFF_LINEAR_DEFAULT;
  static const double COEFF_AFFINE_DEFAULT;
  static const double SIGN_TILT_DEFAULT;

 public: /* --- CONSTRUCTION --- */
  NeckLimitation(const std::string &name);
  virtual ~NeckLimitation(void);

 public: /* --- SIGNAL --- */
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> jointSIN;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> jointSOUT;

 public: /* --- FUNCTIONS --- */
  dynamicgraph::Vector &computeJointLimitation(
      dynamicgraph::Vector &jointLimited, const int &timeSpec);

 public: /* --- PARAMS --- */
  virtual void display(std::ostream &os) const;
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif  // #ifndef __SOT_NeckLimitation_H__