OrocosRTTArmDriverInterface.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_powercube_chain
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
 * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
 *
 * Date of creation: Dec 2009
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
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 ****************************************************************/

#ifndef OROCOSRTTARMDRIVERINTERFACE_H_
#define OROCOSRTTARMDRIVERINTERFACE_H_
#include "Joint.h"
#include <rtt/TaskContext.hpp>
#include <rtt/Command.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Method.hpp>

using namespace RTT;

class OrocosRTTArmDriverInterface : public TaskContext
{

public:



        ReadDataPort<Jointd>  set_position_inport;
        ReadDataPort<Jointd>  set_velocity_inport;

        WriteDataPort<Jointd>  current_position_outport;
        WriteDataPort<Jointd>  current_velocity_outport;

        Method<void(Jointd)> setMaxVelocity;
        Method<void(float)> setMaxVelocityFloat;
        Method<void(Jointd)> setMaxAcceleration;
        Method<void(float)> setMaxAccelerationFloat;

        OrocosRTTArmDriverInterface(std::string name) : TaskContext(name),
                        set_position_inport("SetPositionPort"),
                        set_velocity_inport("SetVelocityPort"),
                        current_position_outport("CurrentPositionPort"),
                        current_velocity_outport("CurrentVelocityPort"),
                        setMaxVelocity("setMaxVelocity",
                                &OrocosRTTArmDriverInterface::setMaxVelocityF,
                                this),
                        setMaxVelocityFloat("setMaxVelocityFloat",
                                        &OrocosRTTArmDriverInterface::setMaxVelocityFloatF,
                                this),
                        setMaxAcceleration("setMaxAcceleration",
                                         &OrocosRTTArmDriverInterface::setMaxAccelerationF,
                                         this),
                        setMaxAccelerationFloat("setMaxAccelerationFloat",
                                         &OrocosRTTArmDriverInterface::setMaxAccelerationFloatF,
                                 this)
        {
                this->ports()->addEventPort(&set_position_inport);
                this->ports()->addEventPort(&set_velocity_inport);
                this->ports()->addPort(&current_position_outport);
                this->ports()->addPort(&current_velocity_outport);

                this->methods()->addMethod( &setMaxVelocity,
                                "Setting maximal velocity of joints.", "Jointd", "maximal velocity in rad per second");
                this->methods()->addMethod( &setMaxVelocityFloat,
                                    "Setting maximal velocity of joints.", "float", "maximal velocity in rad per second");
                this->methods()->addMethod( &setMaxAcceleration,
                                    "Setting maximal acceleration of joints.", "Jointd", "maximal acceleration in rad per second squared");
                this->methods()->addMethod( &setMaxAccelerationFloat,
                                    "Setting maximal acceleration of joints.", "float", "maximal acceleration in rad per second squared");

        }
        ~OrocosRTTArmDriverInterface() {};

private:
        virtual void setMaxVelocityF(Jointd radpersec) = 0;
        virtual void setMaxVelocityFloatF(float radpersec) = 0;
        virtual void setMaxAccelerationF(Jointd radpersec) = 0;
        virtual void setMaxAccelerationFloatF(float radpersec) = 0;


};


#endif /* OROCOSRTTARMDRIVERINTERFACE_H_ */