cob_powercube_chain: datastructsManipulator.h Source File

00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_powercube_chain
00013  * Description: Class definition of the datastructsManipulator.
00014  *                                                              
00015  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016  *                      
00017  * Author: Felix Geibel, email:Felix.Geibel@gmx.de
00018  * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
00019  *
00020  * Date of creation: Nov 2006
00021  * ToDo:
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034  *       Engineering and Automation (IPA) nor the names of its
00035  *       contributors may be used to endorse or promote products derived from
00036  *       this software without specific prior written permission.
00037  *
00038  * This program is free software: you can redistribute it and/or modify
00039  * it under the terms of the GNU Lesser General Public License LGPL as 
00040  * published by the Free Software Foundation, either version 3 of the 
00041  * License, or (at your option) any later version.
00042  * 
00043  * This program is distributed in the hope that it will be useful,
00044  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046  * GNU Lesser General Public License LGPL for more details.
00047  * 
00048  * You should have received a copy of the GNU Lesser General Public 
00049  * License LGPL along with this program. 
00050  * If not, see <http://www.gnu.org/licenses/>.
00051  *
00052  ****************************************************************/
00053 
00054 #ifndef __DATASTRUCTS_MANIPULATOR_H_
00055 #define __DATASTRUCTS_MANIPULATOR_H_
00056 
00057 #include <cob_powercube_chain/Joint.h>
00058 #include <iostream>
00059 
00060 // never in headerfiles!
00061 // using namespace std;
00062 
00063 #ifdef SWIG
00064 %module PowerCubeCtrl
00065 %{
00066         #include <cob_powercube_chain/datastructsManipulator.h>
00067 %}
00068 #endif 
00069 
00070 
00076 struct Point3D {
00077     double x;
00078     double y;
00079     double z;
00080 };
00081 
00082 struct AbsPos {
00083         AbsPos() : Eulerx(0.0), Eulery(0.0), Eulerz(0.0), Transx(0.0), Transy(0.0), Transz(0.0) {;}
00084         // Bitte beachten: Es werden von nun an XYZ-fixed Winkel benutzt
00085         // (Siehe Craig, S.45ff)
00086         // welche gleichbedeutend mit den Euler-ZYX Winkeln sind.
00087         // Die Bezeichnungen Eulerx, Eulery, Eulerz werden daher beibehalten. 
00088     double Eulerx;
00089     double Eulery;
00090     double Eulerz;
00091     double Transx;
00092     double Transy;
00093     double Transz;
00094         void set(double* p);
00095         void setTransX(double transx) {Transx=transx;}
00096         void setTransY(double transy) {Transy=transy;}
00097         void setTransZ(double transz) {Transz=transz;}
00098         void setEulerX(double eulerx) {Eulerx=eulerx;}
00099         void setEulerY(double eulery) {Eulery=eulery;}
00100         void setEulerZ(double eulerz) {Eulerz=eulerz;}
00101         double getTransX() {return Transx;}
00102         double getTransY() {return Transy;}
00103         double getTransZ() {return Transz;}
00104         double getEulerX() {return Eulerx;}
00105         double getEulerY() {return Eulery;}
00106         double getEulerZ() {return Eulerz;}
00107         void angleScale(double s);
00108         void toDeg() { angleScale(57.295779524); }
00109         void toRad() { angleScale(0.017453292); }
00110         AbsPos operator*(double s) const;
00111         AbsPos operator+(const AbsPos& abs2) const;
00112         AbsPos operator-(const AbsPos& abs2) const;
00113         double getPosLength() const { return sqrt(Transx*Transx + Transy*Transy + Transz*Transz); }
00118         double distMeasure(AbsPos otherPos) const;
00119 };
00120 
00121 std::ostream& operator<< (std::ostream& os, const AbsPos& a);
00122 
00123 
00124 inline AbsPos operator* (double s, const AbsPos& abs) { return abs * s; }
00125 
00126 
00127 
00128 struct DH {
00129     Jointd  a;
00130     Jointd  d;
00131     Jointd  alpha;
00132     Jointd  theta;
00133 };
00134 
00135 struct LimitsTheta {
00136     Jointd max;
00137     Jointd min; 
00138 };
00139 
00140 
00141 #endif //__DATASTRUCTS_MANIPULATOR_H_
00142