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