transmission.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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#pragma once


#include <cstddef>
#include <string>
#include <vector>
#include <memory>
#include <stdexcept>

namespace transmission_interface
{

struct ActuatorData
{
  std::vector<double*> position;
  std::vector<double*> velocity;
  std::vector<double*> effort;
  std::vector<double*> absolute_position;
  std::vector<double*> torque_sensor;
};

struct JointData
{
  std::vector<double*> position;
  std::vector<double*> velocity;
  std::vector<double*> effort;
  std::vector<double*> absolute_position;
  std::vector<double*> torque_sensor;
};

class Transmission
{
public:
  virtual ~Transmission() = default;

  virtual void actuatorToJointEffort(const ActuatorData& act_data,
                                           JointData&    jnt_data) = 0;

  virtual void actuatorToJointVelocity(const ActuatorData& act_data,
                                             JointData&    jnt_data) = 0;

  virtual void actuatorToJointPosition(const ActuatorData& act_data,
                                             JointData&    jnt_data) = 0;

  virtual void actuatorToJointAbsolutePosition(const ActuatorData&,
                                                     JointData&)
  {
    throw std::runtime_error("transmission does not support actuator to joint absolute position");
  }

  virtual void actuatorToJointTorqueSensor(const ActuatorData&,
                                                 JointData&)
  {
    throw std::runtime_error("transmission does not support actuator to joint torque sensor");
  }

  virtual bool hasActuatorToJointAbsolutePosition() const {return false;}
  virtual bool hasActuatorToJointTorqueSensor()     const {return false;}

  virtual void jointToActuatorEffort(const JointData&    jnt_data,
                                           ActuatorData& act_data) = 0;

  virtual void jointToActuatorVelocity(const JointData&    jnt_data,
                                             ActuatorData& act_data) = 0;

  virtual void jointToActuatorPosition(const JointData&    jnt_data,
                                             ActuatorData& act_data) = 0;

  virtual std::size_t numActuators() const = 0;

  virtual std::size_t numJoints() const = 0;
};

typedef std::shared_ptr<Transmission> TransmissionSharedPtr;

} // transmission_interface