nAxesControllerPosVelAcc.hpp

// Copyright (C) 2008 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 __N_AXES_CONTROLLER_POSVELACC_H__
#define __N_AXES_CONTROLLER_POSVELACC_H__

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

#include <ocl/OCL.hpp>

namespace OCL
{
    class nAxesControllerPosVelAcc : public RTT::TaskContext
    {
    public:
        nAxesControllerPosVelAcc(std::string name);
        virtual ~nAxesControllerPosVelAcc();
        virtual bool configureHook();
        virtual bool startHook();
        virtual void updateHook();
        virtual void stopHook();

    private:
        void resetAll();
        void resetAxis(int axis);

        unsigned int  num_axes;

        std::vector<double>  p_m, p_d, p_d_prev,
            v_m,v_d, v_d_prev, a_d, a_out, Kp, Kv;
    protected:
        RTT::Method<void(void)>  reset_all_mtd;
        RTT::Method<void(int)>   resetAxis_mtd;

        RTT::ReadDataPort< std::vector<double> >   p_m_port;
        RTT::ReadDataPort< std::vector<double> >   v_m_port;
        RTT::DataPort< std::vector<double> >   p_d_port;
        RTT::DataPort< std::vector<double> >   v_d_port;
        RTT::DataPort< std::vector<double> >  a_d_port;
        RTT::WriteDataPort< std::vector<double> >  a_out_port;
        RTT::Property< std::vector<double> >       Kp_prop;
        RTT::Property< std::vector<double> >       Kv_prop;
        RTT::Property<unsigned int> num_axes_prop;
        RTT::Property<bool> use_ad,use_vd,use_pd;
        RTT::Property<bool> avoid_drift;
        RTT::Property<bool> differentiate;
        
        
    private:
        std::vector<bool>                          is_initialized;
        std::vector<RTT::TimeService::ticks>       time_begin;
        std::vector<RTT::TimeService::Seconds>     time_difference;
        

  }; // class
}//namespace

#endif // __N_AXES_CONTROLLER_ACC_H__

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