CActuatorBase.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 CActuatorBase.hpp
 *
 *  Created on: Aug 24, 2012
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CACTUATORBASE_HPP_
#define CACTUATORBASE_HPP_

#include <scl/data_structs/SObject.hpp>

#include <Eigen/Eigen>

namespace scl
{
  class SActuatorSettings
  {
  public:
    sBool flag_apply_limits_force_;   //true
    sBool flag_apply_limits_pos_;     //true
    sBool flag_apply_limits_vel_;     //true
    sBool flag_apply_limits_acc_;     //true
    sBool flag_apply_noise_force_;   //true
    sBool flag_apply_noise_pos_;     //true
    sBool flag_apply_noise_vel_;     //true
    sBool flag_apply_noise_acc_;     //true
    sBool flag_apply_delay_forces_;   //false

    Eigen::VectorXd limits_force_;
    Eigen::VectorXd limits_pos_;
    Eigen::VectorXd limits_vel_;
    Eigen::VectorXd limits_acc_;

    SActuatorSettings() :
      flag_apply_limits_force_(true),
      flag_apply_limits_pos_(true),
      flag_apply_limits_vel_(true),
      flag_apply_limits_acc_(true),
      flag_apply_noise_force_(true),
      flag_apply_noise_pos_(true),
      flag_apply_noise_vel_(true),
      flag_apply_noise_acc_(true),
      flag_apply_delay_forces_(false)
    {}
  };

  class CActuatorBase
  {
  public:
    /* *****************************************************************
     *                        Actuation Model
     * ***************************************************************** */
    virtual sBool actuate(const std::vector<sFloat>& arg_input,
        Eigen::VectorXd& ret_output_gc_force) = 0;

    virtual sBool computeJacobian()=0;

    /* *****************************************************************
     *                        Actuator Properties
     * ***************************************************************** */
    virtual sBool getActuatesGC()=0;

    /* *****************************************************************
     *                        Initialization
     * ***************************************************************** */
    virtual sBool init(SActuatorSettings* arg_state)=0;

    virtual sBool hasBeenInit()=0;

    CActuatorBase() {}

    virtual ~CActuatorBase() {}

  protected:
    SActuatorSettings settings_;
  };

} /* namespace scl */
#endif /* CACTUATORBASE_HPP_ */