control_select.h

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/*
Copyright (C) 2002-2004  Etienne Lachance

This library 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 2.1 of the
License, or (at your option) any later version.

This library 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 library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


Report problems and direct all questions to:

email: etienne.lachance@polymtl.ca or richard.gourdeau@polymtl.ca

-------------------------------------------------------------------------------
Revision_history:

2004/07/13: Ethan Tira-Thompson
    -Added support for newmat's use_namespace #define, using ROBOOP namespace

2005/11/06: Etienne Lachance
    - No need to provide a copy constructor and the assignment operator 
      (operator=) for Control_Select class. Instead we use the one provide by the
      compiler.
-------------------------------------------------------------------------------
*/


#ifndef CONTROL_SELECT_H
#define CONTROL_SELECT_H


static const char header_Control_Select_rcsid[] = "$Id: control_select.h,v 1.4 2006/05/16 16:11:15 gourdeau Exp $";


#include <string>
#include "controller.h"

#ifdef use_namespace
namespace ROBOOP {
  using namespace NEWMAT;
#endif

#define NONE   0
#define PD     1
#define CTM    2
#define RRA    3
#define IMP    4

#define CONTROLLER  "CONTROLLER"

#define PROPORTIONAL_DERIVATIVE    "PROPORTIONAL_DERIVATIVE"
#define COMPUTED_TORQUE_METHOD     "COMPUTED_TORQUE_METHOD"
#define RESOLVED_RATE_ACCELERATION "RESOLVED_RATE_ACCELERATION"
#define IMPEDANCE                  "IMPEDANCE"

class Control_Select
{
public:
    Control_Select();
    Control_Select(const std::string & filename);
    int get_dof();
    void set_control(const std::string & filename);
    Proportional_Derivative pd;
    Computed_torque_method ctm;
    Resolved_acc rra;
    Impedance impedance;

    short type,            
          space_type;      
    std::string ControllerName; 
private:
    int dof;               
};

#ifdef use_namespace
}
#endif

#endif