SRobotIO.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, 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.

scl 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 Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file SRobotIO.hpp
 *
 *  Created on: Jul 22, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */ 
#ifndef SROBOTIO_HPP_
#define SROBOTIO_HPP_

#include <scl/DataTypes.hpp>
#include <scl/data_structs/SObject.hpp>
#include <scl/data_structs/SForce.hpp>
#include <scl/actuation/data_structs/SActuatorSetBase.hpp>

#include <sutil/CMappedList.hpp>
#include <Eigen/Dense>

#include <string>
#include <vector>

namespace scl
{
  struct SRobotSensors
  {
  public:
    Eigen::VectorXd q_;

    Eigen::VectorXd  dq_;

    Eigen::VectorXd  ddq_;

    Eigen::VectorXd force_gc_measured_;

    sutil::CMappedList<std::string, SForce> forces_external_;
  };


  struct SRobotActuators
  {
  public:
    Eigen::VectorXd force_gc_commanded_;

    sutil::CMappedPointerList<std::string, SActuatorSetBase, false> actuator_sets_;
  };

  struct SRobotIO : public SObject
  {
    sUInt dof_;

    SRobotSensors sensors_;

    SRobotActuators actuators_;

    SRobotIO();

    sBool init(const std::string& arg_robot_name,
        const sUInt arg_robot_dof);

    void setGcPosition(const Eigen::VectorXd &arg_pos)
    { sensors_.q_ = arg_pos;  }

    void setGcVelocity(const Eigen::VectorXd &arg_vel)
    { sensors_.dq_ = arg_vel;  }

    sBool printInfo();

  };
}

#endif /* SROBOTIO_HPP_ */