CartesianGeneratorPos.hpp

// $Id: nAxisGeneratorCartesianPos.hpp,v 1.1.1.1 2003/12/02 20:32:06 kgadeyne Exp $
// Copyright (C) 2003 Klaas Gadeyne <klaas.gadeyne@mech.kuleuven.ac.be>
//                    Wim Meeussen  <wim.meeussen@mech.kuleuven.ac.be>
// Copyright (C) 2006 Ruben Smits <ruben.smits@mech.kuleuven.be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#ifndef __CARTESIAN_GENERATOR_POS_H__
#define __CARTESIAN_GENERATOR_POS_H__

#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Command.hpp>
#include <rtt/Method.hpp>

#include <kdl/velocityprofile_trap.hpp>
#include <rtt/TimeService.hpp>

#include <kdl/kdl.hpp>
#include <kdl/frames.hpp>

#include <ocl/OCL.hpp>

namespace OCL
{
    class CartesianGeneratorPos : public RTT::TaskContext
    {
    public:
        CartesianGeneratorPos(std::string name);
        virtual ~CartesianGeneratorPos();

        virtual bool configureHook();
        virtual bool startHook();
        virtual void updateHook();
        virtual void stopHook();
        virtual void cleanupHook();

    private:
        bool moveTo(KDL::Frame frame, double time=0);
        bool moveFinished() const;
        void resetPosition();

        KDL::Frame                        _traject_end, _traject_begin;
        KDL::Frame                        _position_desi_local;
        KDL::Twist                        _velocity_desi_local, _velocity_begin_end, _velocity_delta;
        std::vector<double>               _maximum_velocity_local, _maximum_acceleration_local;

        std::vector<KDL::VelocityProfile_Trap>      _motion_profile;
        RTT::TimeService::ticks                     _time_begin;
        RTT::TimeService::Seconds                   _time_passed;
        double                                      _max_duration;

        bool                                        _is_moving,once;

    protected:
        RTT::Command<bool(KDL::Frame,double)> _moveTo;

        RTT::Method<void(void)>           _reset_position;
        RTT::ReadDataPort< KDL::Frame >   _position_meas;
        RTT::WriteDataPort< KDL::Frame >  _position_desi;
        RTT::WriteDataPort< KDL::Twist >  _velocity_desi;
        RTT::Property< std::vector<double> >  _maximum_velocity;
        RTT::Property< std::vector<double> >  _maximum_acceleration;

  }; // class
}//namespace

#endif // __CARTESIAN_GENERATOR_POS_H__

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