nAxesGeneratorPos.hpp

// $Id: nAxisGeneratorPos.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) 2006-2008 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_GENERATOR_POS_H__
#define __N_AXES_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 <ocl/OCL.hpp>

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

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

        virtual void stopHook();

    private:
        bool moveTo(const std::vector<double>& position, double time=0);
        bool moveFinished() const;
        void resetPosition();

        unsigned int num_axes;
        std::vector<double> p_m, p_d, v_d, v_max, a_max;
    protected:
        RTT::Command<bool(std::vector<double>,double)> moveTo_cmd;
        RTT::Method<void(void)> reset_position_mtd;
        RTT::ReadDataPort< std::vector<double> >  p_m_port;
        RTT::WriteDataPort< std::vector<double> > p_d_port;
        RTT::WriteDataPort< std::vector<double> > v_d_port;
    private:
        std::vector<KDL::VelocityProfile_Trap>    motion_profile;
        RTT::TimeService::ticks                   time_begin;
        RTT::TimeService::Seconds                 time_passed;
        double                                    max_duration;

        bool                                      is_moving;
    protected:
        RTT::Property< std::vector<double> >      v_max_prop;
        RTT::Property< std::vector<double> >      a_max_prop;
        RTT::Property< unsigned int > num_axes_prop;
    }; // class
}//namespace
#endif // __N_AXES_GENERATOR_POS_H__

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