clamp-workspace.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_CLAMP_WORKSPACE_HH__
#define __SOT_CLAMP_WORKSPACE_HH__
 
/* STL */
#include <utility>
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
 
#include <sot/core/exception-task.hh>
#include <sot/core/matrix-geometry.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(clamp_workspace_EXPORTS)
#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllexport)
#else
#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllimport)
#endif
#else
#define SOTCLAMPWORKSPACE_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionrefSIN;
  dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionSIN;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> alphaSOUT;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t>
      alphabarSOUT;
  dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> handrefSOUT;
 
 public:
  ClampWorkspace(const std::string &name);
  virtual ~ClampWorkspace(void) {}
 
  void update(sigtime_t time);
 
  virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
                                              sigtime_t time);
  virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
                                                 sigtime_t time);
  virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, sigtime_t time);
 
  virtual void display(std::ostream &) const;
 
 private:
  sigtime_t timeUpdate;
 
  dynamicgraph::Matrix alpha;
  dynamicgraph::Matrix alphabar;
  MatrixHomogeneous prefMp;
  dynamicgraph::Vector pd;
  MatrixRotation Rd;
  MatrixHomogeneous handref;
 
  double beta;
  double scale;
  double dm_min;
  double dm_max;
  double dm_min_yaw;
  double dm_max_yaw;
  double theta_min;
  double theta_max;
  size_type mode;
 
  enum { FRAME_POINT, FRAME_REF } frame;
 
  std::pair<double, double> bounds[3];
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif