moveCommand.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 __MOVE_COMMAND_H__
#define __MOVE_COMMAND_H__
 
#include <schunk_powercube_chain/datastructsManipulator.h>
#include <schunk_powercube_chain/TimeStamp.h>
 
class moveCommand
{
public:
  moveCommand() {;}
  virtual ~moveCommand() {;}
 
  //               Child Classes have to define these:                   //
 
  virtual double getPos(double TimeElapsed) = 0;
 
  virtual double getVel(double TimeElapsed) = 0;
 
  virtual double getTotalTime() = 0;
 
  //                Functions useful for simulation:                     //
  //          start() has to be called before the other functions        //
 
  virtual void start()
  {
    m_timeStarted.SetNow();
  }
 
  virtual bool isActive()
  {
    m_now.SetNow();
    return (m_now - m_timeStarted > getTotalTime()) ? false : true;
    std::cerr << "========Total Time: " << getTotalTime() << "\n";
  }
 
  virtual double pos()
  {
    m_now.SetNow();
    return getPos(m_now - m_timeStarted);
  }
 
  virtual double vel()
  {
    m_now.SetNow();
    return getVel(m_now - m_timeStarted);
  }
 
  virtual double timeRemaining()
  {
    m_now.SetNow();
    return (m_timeStarted - m_now) + getTotalTime();
  }
 
protected:
  TimeStamp m_timeStarted;
  TimeStamp m_now;
};
 
class RampCommand : public moveCommand
{
public:
  RampCommand(double x0, double v0, double xtarget, double amax, double vmax);
  RampCommand(const RampCommand& rc);
 
  virtual RampCommand& operator=(const RampCommand& rc);
 
  virtual ~RampCommand()
  {
    if (m_nachumkehr)
      delete m_nachumkehr;
  }
 
  virtual double getPos(double TimeElapsed);
  double getPos()
  {
    return moveCommand::pos();
  }
 
  virtual double getVel(double TimeElapsed);
  double getVel()
  {
    return moveCommand::vel();
  }
 
  virtual double getTotalTime();
 
  virtual bool inPhase1()
  {
    m_now.SetNow();
    return (m_now - m_timeStarted <= m_T1) ? true : false;
  }
  virtual bool inPhase3()
  {
    m_now.SetNow();
    return (m_now - m_timeStarted > m_T1 + m_T2 && m_now - m_timeStarted < m_T1 + m_T2 + m_T3) ? true : false;
  }
 
  virtual double T1()
  {
    return (m_umkehr) ? (m_T1 + m_nachumkehr->T1()) : m_T1;
  }
  virtual double T2()
  {
    return (m_umkehr) ? m_nachumkehr->T2() : m_T2;
  }
  virtual double T3()
  {
    return (m_umkehr) ? m_nachumkehr->T3() : m_T3;
  }
 
  static void calculateAV(double x0, double v0, double xtarget, double time, double T3, double amax, double vmax,
                          double& a, double& v);
 
private:
  static std::ofstream debug;
 
  double m_x0, m_v0;
  double m_xtarget;
  double m_amax, m_vmax;
 
  double m_T1, m_T2, m_T3;
  double m_a1, m_v2, m_a3;
  bool m_umkehr;
  RampCommand* m_nachumkehr;
};
 
#endif