simulatedArm.h

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#ifndef _SIMULATED_ARM_H_
#define _SIMULATED_ARM_H_

#include <schunk_powercube_chain/PowerCubeCtrl.h>
#include <vector>
#include <string>

class simulatedMotor;

class simulatedArm
{
        public:
                
                simulatedArm();
                virtual ~simulatedArm();
                
                bool Init(PowerCubeCtrlParams * params);

                bool isInitialized() const { return m_Initialized; }

                std::string getErrorMessage() const { return m_ErrorMessage; }

                bool Close() { m_Initialized = false; return true; }

                // Funktionen Arm-Ansteuerung: //
                
                bool MoveJointSpaceSync(const std::vector<double>& Angle);
                
                bool MovePos(const std::vector<double>&);
                bool MoveVel(const std::vector<double>&);
                
                //  bool MoveCur(const std::vector<double>&);
                
                bool Stop();
                
                // Funktionen zum setzen von Parametern: //
                
                bool setMaxVelocity(double radpersec);
                bool setMaxVelocity(const std::vector<double>& radpersec);
                
                bool setMaxAcceleration(double radPerSecSquared);
                bool setMaxAcceleration(const std::vector<double>& radPerSecSquared);
                
                // hier die Funktionen zur Statusabfrage: //
        

                bool getConfig(std::vector<double>& result);
                
                bool getJointVelocities(std::vector<double> & result);
                
                bool statusMoving();
                
                bool statusDec();
                
                bool statusAcc();

                // bool doHoming();
                // bool HomingDone();
                
                bool waitForSync() { return true; } // makes no difference in simulation
                bool dontWaitForSync() { return true; } // makes no difference in simulation
                
        protected:
                
                int m_DOF;
                bool m_Initialized;
                std::string m_ErrorMessage;
                
                std::vector<simulatedMotor> m_motors;
                
                std::vector<double> m_maxVel;
                std::vector<double> m_maxAcc;

};


#endif