constraint_params.h

Go to the documentation of this file.

/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef COB_TWIST_CONTROLLER_CONSTRAINTS_CONSTRAINT_PARAMS_H
#define COB_TWIST_CONTROLLER_CONSTRAINTS_CONSTRAINT_PARAMS_H

#include <vector>
#include <string>
#include <ros/ros.h>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>

#include "cob_twist_controller/cob_twist_controller_data_types.h"

/* BEGIN ConstraintParamsBase ***********************************************************************************/
class ConstraintParamsBase
{
    public:
        ConstraintParamsBase(const ConstraintParams& params,
                             const std::string& id = std::string()) :
                params_(params),
                id_(id)
        {}

        ~ConstraintParamsBase()
        {}

        const std::string id_;
        const ConstraintParams params_;
};
/* END ConstraintParamsBase *************************************************************************************/

/* BEGIN ConstraintParamsCA *************************************************************************************/
class ConstraintParamsCA : public ConstraintParamsBase
{
    public:
        ConstraintParamsCA(const ConstraintParams& params,
                           const std::vector<std::string>& frame_names = std::vector<std::string>(),
                           const std::string& id = std::string()) :
                ConstraintParamsBase(params, id),
                frame_names_(frame_names)
        {}

        ConstraintParamsCA(const ConstraintParamsCA& cpca) :
                ConstraintParamsBase(cpca.params_, cpca.id_),
                frame_names_(cpca.frame_names_),
                current_distances_(cpca.current_distances_)
        {}

        virtual ~ConstraintParamsCA()
        {}

        std::vector<std::string> frame_names_;
        std::vector<ObstacleDistanceData> current_distances_;
};
/* END ConstraintParamsCA ***************************************************************************************/

/* BEGIN ConstraintParamsJLA ************************************************************************************/
class ConstraintParamsJLA : public ConstraintParamsBase
{
    public:
        ConstraintParamsJLA(const ConstraintParams& params,
                            const LimiterParams& limiter_params = LimiterParams(),
                            const std::string& id = std::string()) :
                ConstraintParamsBase(params, id),
                joint_idx_(-1),
                limiter_params_(limiter_params)
        {}

        ConstraintParamsJLA(const ConstraintParamsJLA& cpjla) :
                ConstraintParamsBase(cpjla.params_, cpjla.id_),
                joint_(cpjla.joint_),
                joint_idx_(cpjla.joint_idx_),
                limiter_params_(cpjla.limiter_params_)
        {}

        virtual ~ConstraintParamsJLA()
        {}

        std::string joint_;
        int32_t joint_idx_;
        const LimiterParams& limiter_params_;
};
/* END ConstraintParamsJLA **************************************************************************************/

typedef boost::shared_ptr<ConstraintParamsBase> ConstraintParamsBase_t;

#endif  // COB_TWIST_CONTROLLER_CONSTRAINTS_CONSTRAINT_PARAMS_H