motion-period.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_JOINTLIMITS_HH__
#define __SOT_JOINTLIMITS_HH__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* 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>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(motion_period_EXPORTS)
#define SOTMOTIONPERIOD_EXPORT __declspec(dllexport)
#else
#define SOTMOTIONPERIOD_EXPORT __declspec(dllimport)
#endif
#else
#define SOTMOTIONPERIOD_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class SOTMOTIONPERIOD_EXPORT MotionPeriod : public dynamicgraph::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 protected:
  enum MotionPeriodType { MOTION_CONSTANT, MOTION_SIN, MOTION_COS };
 
  struct sotMotionParam {
    MotionPeriodType motionType;
    sigtime_t period;
    sigtime_t initPeriod;
    double amplitude;
    double initAmplitude;
  };
 
  std::size_t size;
  std::vector<sotMotionParam> motionParams;
 
  void resize(const std::size_t &size);
 
  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> motionSOUT;
 
 public:
  MotionPeriod(const std::string &name);
  virtual ~MotionPeriod(void) {}
 
  dynamicgraph::Vector &computeMotion(dynamicgraph::Vector &res,
                                      const sigtime_t &time);
 
  virtual void display(std::ostream &os) const;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // #ifndef __SOT_JOINTLIMITS_HH__
 
/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */