simulatedArm.h

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/*
 * 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 _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