Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCA2_SEGWAY_RMP_DRIVER_CONFIG_H
00012 #define ORCA2_SEGWAY_RMP_DRIVER_CONFIG_H
00013 
00014 #include <string>
00015 #include <hydroutil/context.h>
00016 #include "rmpdefs.h"
00017 
00018 namespace segwayrmpacfr
00019 {
00020 
00021 //
00022 // Convenience structure to hold all the config parameters.
00023 // All units are S.I.
00024 //
00025 class RmpDriverConfig 
00026 {
00027 public:
00028 
00029     RmpDriverConfig();
00030 
00031     GainSchedule gainSchedule;
00032     double maxVelocityScale;
00033     double maxTurnrateScale;
00034     double maxAccelerationScale;
00035     double maxCurrentLimitScale;
00036 
00037     RmpModel model;
00038     bool     requireSpecificBuildId;
00039     // The required RMP firmware version (only valid if requireSpecificBuildId is set)
00040     int16_t  requiredBuildId;
00041 
00042     bool allowMoveInTractorMode;
00043     bool allowMoveInBalanceMode;
00044 
00045     // for debugging
00046     bool logCanDataToFile;
00047     std::string canDataLogFileName;
00048 
00049     // returns 0 if everything looks good.
00050     int checkSanity( std::string &errors );
00051 };
00052 
00053 std::ostream &operator<<( std::ostream & s, const RmpDriverConfig & c );
00054 
00055 void readFromProperties( const hydroutil::Context & context, RmpDriverConfig & c );
00056 
00057 } // namespace
00058 
00059 #endif
rmpdriverconfig.h
