JointData.hpp

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#ifndef YOUBOT_JOINTDATA_H
#define YOUBOT_JOINTDATA_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program 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 LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <youbot_driver/generic/Units.hpp>

namespace youbot
{

class JointData
{
};
class JointSensedData : public JointData
{
};
class JointComputedData : public JointSensedData
{
};
class JointSensedPWM : public JointSensedData
{
public:
  signed int pwm;

  JointSensedPWM();

  JointSensedPWM(const signed int& value);

};
class JointSensedAngle : public JointSensedData
{
public:
  quantity<plane_angle> angle;

  JointSensedAngle();

  JointSensedAngle(const quantity<plane_angle>& value);

};
class JointSensedEncoderTicks : public JointSensedData
{
public:
  signed int encoderTicks;

  JointSensedEncoderTicks();

  JointSensedEncoderTicks(const signed int& value);

};
class JointSensedVelocity : public JointSensedData
{
public:
  quantity<si::angular_velocity> angularVelocity;

  JointSensedVelocity();

  JointSensedVelocity(const quantity<si::angular_velocity>& value);

};
class JointSensedRoundsPerMinute : public JointSensedData
{
public:
  int rpm;

  JointSensedRoundsPerMinute();

  JointSensedRoundsPerMinute(const int value);

};
class JointSensedCurrent : public JointSensedData
{
public:
  quantity<si::current> current;

  JointSensedCurrent();

  JointSensedCurrent(const quantity<si::current>& value);

};
class JointSensedTorque : public JointComputedData
{
public:
  quantity<si::torque> torque;

  JointSensedTorque();

  JointSensedTorque(const quantity<si::torque>& value);

};
class JointDataSetpoint : public JointData
{
};
class JointComputedSetpoint : public JointDataSetpoint
{
};
class JointAngleSetpoint : public JointDataSetpoint
{
public:
  quantity<plane_angle> angle;

  JointAngleSetpoint();

  JointAngleSetpoint(const quantity<plane_angle>& value);

};
class JointVelocitySetpoint : public JointDataSetpoint
{
public:
  quantity<angular_velocity> angularVelocity;

  JointVelocitySetpoint();

  JointVelocitySetpoint(const quantity<angular_velocity>& value);

};
class JointRoundsPerMinuteSetpoint : public JointDataSetpoint
{
public:
  int rpm;

  JointRoundsPerMinuteSetpoint();

  JointRoundsPerMinuteSetpoint(const int value);

};
class JointCurrentSetpoint : public JointDataSetpoint
{
public:
  quantity<si::current> current;

  JointCurrentSetpoint();

  JointCurrentSetpoint(const quantity<si::current>& value);

};
class JointTorqueSetpoint : public JointComputedSetpoint
{
public:
  quantity<si::torque> torque;

  JointTorqueSetpoint();

  JointTorqueSetpoint(const quantity<si::torque>& value);

};
class JointPWMSetpoint : public JointDataSetpoint
{
public:
  int pwm;

  JointPWMSetpoint();

  JointPWMSetpoint(const int value);

};
class JointEncoderSetpoint : public JointDataSetpoint
{
public:
  signed int encoderTicks;

  JointEncoderSetpoint();

  JointEncoderSetpoint(const signed int& value);

};
class JointControllerComputedData : public JointSensedData
{
};
class JointRampGeneratorVelocity : public JointControllerComputedData
{
public:
  quantity<si::angular_velocity> angularVelocity;

  JointRampGeneratorVelocity();

  JointRampGeneratorVelocity(const quantity<si::angular_velocity>& value);

};

} // namespace youbot
#endif