State.hpp

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/*
 * Stanford Whole-Body Control Framework http://stanford-scl.sourceforge.net/
 *
 * Copyright (c) 2010 Stanford University. All rights reserved.
 *
 * This program 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.
 *
 * 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this program.  If not, see
 * <http://www.gnu.org/licenses/>
 */

#ifndef JSPACE_STATE_HPP
#define JSPACE_STATE_HPP

#include <scl/dynamics/tao/jspace/wrap_eigen.hpp>

namespace jspace {
  
  class State
  {
  public:
    typedef enum {
      COMPARE_ACQUISITION_TIME = 0x1,
      COMPARE_POSITION         = 0x2,
      COMPARE_VELOCITY         = 0x4,
      COMPARE_FORCE            = 0x8,
      COMPARE_ALL              = 0xf
    } compare_flags_t;
    
    State();
    State(State const & orig);
    State(size_t npos, size_t nvel, size_t nforce);
    
    void init(size_t npos, size_t nvel, size_t nforce);
    
    void resizeAndPadWithZeros(size_t npos, size_t nvel, size_t nforce);
    
    bool equal(State const & rhs,
         int flags = COMPARE_POSITION | COMPARE_VELOCITY,
         double precision = 1e-3) const;
    
    State & operator = (State const & rhs);
    
    size_t time_sec_;
    size_t time_usec_;
    Eigen::VectorXd position_;
    Eigen::VectorXd velocity_;
    Eigen::VectorXd force_;
  };
  
}

#endif // JSPACE_STATE_HPP