custom_trajectory.h

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/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* 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.
*******************************************************************************/

/* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */

#ifndef CUSTOM_TRAJECTORY_H_
#define CUSTOM_TRAJECTORY_H_

#if defined(__OPENCR__)
  #include <RobotisManipulator.h>
#else
  #include <robotis_manipulator/robotis_manipulator.h>
#endif

using namespace robotis_manipulator;
using namespace Eigen;

namespace custom_trajectory
{
  
enum AXIS{
        X_AXIS,
        Y_AXIS,
        Z_AXIS,
};


/*****************************************************************************
** Line
*****************************************************************************/
class Line : public robotis_manipulator::CustomTaskTrajectory
{
private:
  TaskWaypoint start_pose_;
  TaskWaypoint goal_pose_;

  double acc_dec_time_;
  double move_time_;
  std::vector<double> vel_max_;

public:
        Line() {}
        virtual ~Line() {}

  void initLine(double move_time, TaskWaypoint start, TaskWaypoint delta);
  TaskWaypoint drawLine(double time_var);

  virtual void setOption(const void *arg);
  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
  virtual TaskWaypoint getTaskWaypoint(double tick);
};


/*****************************************************************************
** Circle
*****************************************************************************/
class Circle : public robotis_manipulator::CustomTaskTrajectory
{
private:
  robotis_manipulator::MinimumJerk path_generator_;
  VectorXd coefficient_;

  TaskWaypoint start_pose_;
  TaskWaypoint goal_pose_;

  double radius_;
  double start_angular_position_;
  double revolution_;

public:
        Circle() {}
        virtual ~Circle() {}

  void initCircle(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
  TaskWaypoint drawCircle(double time_var);

  virtual void setOption(const void *arg);
  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
  virtual TaskWaypoint getTaskWaypoint(double tick);
};


/*****************************************************************************
** Rhombus
*****************************************************************************/
class Rhombus : public robotis_manipulator::CustomTaskTrajectory
{
private:
  robotis_manipulator::MinimumJerk path_generator_;
  VectorXd coefficient_;

  TaskWaypoint start_pose_;
  TaskWaypoint goal_pose_;

  double radius_;
  double start_angular_position_;
  double revolution_;

public:
        Rhombus() {}
        virtual ~Rhombus() {}

  void initRhombus(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
  TaskWaypoint drawRhombus(double time_var);

  virtual void setOption(const void *arg);
  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
  virtual TaskWaypoint getTaskWaypoint(double tick);
};


/*****************************************************************************
** Heart
*****************************************************************************/
class Heart : public robotis_manipulator::CustomTaskTrajectory
{
private:
  robotis_manipulator::MinimumJerk path_generator_;
  VectorXd coefficient_;

  TaskWaypoint start_pose_;
  TaskWaypoint goal_pose_;

  double radius_;
  double start_angular_position_;
  double revolution_;

public:
        Heart() {}
        virtual ~Heart() {}

  void initHeart(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
  TaskWaypoint drawHeart(double tick);

  virtual void setOption(const void *arg);
  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
  virtual TaskWaypoint getTaskWaypoint(double tick);
};


} // namespace CUSTOM_TRAJECTORY
#endif // CUSTOM_TRAJECTORY_H_