tibi_dabo_head_tracking_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_head_tracking_alg_h_
#define _tibi_dabo_head_tracking_alg_h_

#include <tibi_dabo_head_tracking/TibiDaboHeadTrackingConfig.h>
#include "mutex.h"

typedef struct
{
  float P;
  float I;
  float D;
}TPID;

//include tibi_dabo_head_tracking_alg main library

class TibiDaboHeadTrackingAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    float current_pan;
    float current_tilt;

    TPID pan_control;
    TPID tilt_control;
  
    float max_pan_angle;
    float min_pan_angle;
    float max_tilt_angle;
    float min_tilt_angle;

    float pan_error;
    float tilt_error;

    int mode;

  public:
    typedef tibi_dabo_head_tracking::TibiDaboHeadTrackingConfig Config;

    Config config_;

    TibiDaboHeadTrackingAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all tibi_dabo_head_tracking_alg interface methods to retrieve and set
    // the driver parameters
    void compute_head_position(float target_pan,float target_tilt,float *pan, float *tilt);
    void set_current_head_position(float pan, float tilt);
    void get_current_error(float *pan_error,float *tilt_error);

    ~TibiDaboHeadTrackingAlgorithm(void);
};

#endif