hydrointerfaces/segwayrmp.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 HYDRO_INTERFACES_SEGWAYRMP_H
00012 #define HYDRO_INTERFACES_SEGWAYRMP_H
00013 
00014 #include <hydroutil/context.h>
00015 
00016 namespace hydrointerfaces
00017 {
00018 
00043 class SOEXPORT SegwayRmp
00044 {
00045 
00046 public: 
00047 
00049     class Data
00050     {
00051     public:
00053         int seconds;
00055         int useconds;
00057         double x;
00059         double y;
00061         double roll;
00063         double pitch;
00065         double yaw;
00067         double vx;
00069         double droll;
00071         double dpitch;
00073         double dyaw;
00075         double leftTorque;
00077         double rightTorque;
00079         double mainvolt;
00081         double uivolt;
00082 
00084         bool hasWarnings;
00086         bool hasFaults;
00088         std::string warnFaultReason;
00089     
00091         std::string toString() const;
00092     };
00093     
00095     class Command
00096     {
00097     public:
00098         Command( double speed, double turnrate )
00099             : vx(speed), w(turnrate) {}
00100         Command() {}
00101 
00103         double vx;
00105         double w;
00106     
00108         std::string toString() const;
00109     };
00110 
00112     class Capabilities
00113     {
00114     public:
00116         double maxForwardSpeed;
00118         double maxReverseSpeed;
00120         double maxTurnrate;
00122         double maxLateralAcceleration;        
00123 
00124         bool isSane() const;
00125         std::string toString() const;
00126     };
00127 
00128     virtual ~SegwayRmp() {}
00129 
00135     virtual void enable()=0;
00136 
00138     virtual void read( Data &data )=0;
00139     
00141     virtual void write( const Command& command )=0;
00142 
00144     virtual Capabilities capabilities() const=0;
00145 };
00146 
00148 class SOEXPORT SegwayRmpFactory {
00149 public:
00150     virtual ~SegwayRmpFactory() {};
00152     virtual SegwayRmp *createDriver( const std::string &powerbaseName, const hydroutil::Context& context ) const=0;
00153 };
00154 
00155 // Streaming operators
00156 inline std::ostream &operator<<( std::ostream &s, const SegwayRmp::Data &data )
00157 { return s << data.toString(); }
00158 inline std::ostream &operator<<( std::ostream &s, const SegwayRmp::Command &cmd )
00159 { return s << cmd.toString(); }
00160 inline std::ostream &operator<<( std::ostream &s, const SegwayRmp::Capabilities &c )
00161 { return s << c.toString(); }
00162 
00165 void constrain( SegwayRmp::Capabilities &capabilities, 
00166                 const SegwayRmp::Capabilities &limits );
00167 
00168 bool operator==( const SegwayRmp::Capabilities &c1, const SegwayRmp::Capabilities &c2 );
00169 
00170 bool commandPossible( const hydrointerfaces::SegwayRmp::Command      &cmd,
00171                       const hydrointerfaces::SegwayRmp::Capabilities &capabilities );
00172 
00173 void limit( hydrointerfaces::SegwayRmp::Command            &cmd,
00174             const hydrointerfaces::SegwayRmp::Capabilities &capabilities );
00175 
00177 } // namespace
00178 
00179 // Function for dynamically instantiating drivers.
00180 // A driver must have a function like so:
00181 // extern "C" {
00182 //     hydrointerfaces::SegwayRmpFactory *createSegwayRmpDriverFactory();
00183 // }
00184 typedef hydrointerfaces::SegwayRmpFactory *SegwayRmpDriverFactoryMakerFunc();
00185 
00186 #endif