CartesianControllerVel.hpp

// $Id: nAxisPosVelController.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_VEL_CONTROLLER_H__
#define __CARTESIAN_VEL_CONTROLLER_H__

#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/TimeService.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Ports.hpp>

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

#include <ocl/OCL.hpp>

namespace OCL
{
    class CartesianControllerVel : public RTT::TaskContext
    {

    public:
        CartesianControllerVel(std::string name);
        virtual ~CartesianControllerVel();

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

    private:
        KDL::Frame                       _position_meas_local, _position_integrated;
        KDL::Twist                       _velocity_out_local, _velocity_desi_local, _velocity_feedback;
        std::vector<double>              _gain_local;

        RTT::TimeService::ticks                   _time_begin;
        bool                                      _is_initialized;

    protected:
        RTT::ReadDataPort< KDL::Frame >  _position_meas;
        RTT::DataPort< KDL::Twist >  _velocity_desi;
        RTT::WriteDataPort< KDL::Twist > _velocity_out;
        RTT::Property< std::vector<double> >      _controller_gain;

    }; // class
}//namespace
#endif // __N_AXES_CARTESIAN_VEL_CONTROLLER_H__

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