hydrosegwayrmpacfr/unitconverter.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 SEGWAYRMP_UNITCONVERTER_H
00012 #define SEGWAYRMP_UNITCONVERTER_H
00013 
00014 #include "rmpdefs.h"
00015 #include <stdint.h>
00016 
00017 namespace segwayrmpacfr {
00018 
00019 //
00020 // @brief convert between S.I. units and RMP native units (counts)
00021 //
00022 // @author Alex Brooks
00023 //
00024 class UnitConverter
00025 {
00026 
00027 public: 
00028 
00029     explicit UnitConverter( RmpModel model );
00030 
00031     // counts -> S.I. units
00032     // (some angles are specified in revs)
00033     double angleInRadiansFromRevCounts( int counts ) const;
00034     // (others are specified in degrees)
00035     double angleInRadians( int counts ) const;
00036     double angularRateInRadians( int counts ) const;
00037     double distanceInM( int counts ) const;
00038     double speedInMperS( int counts ) const;
00039     double torqueInNM( int counts ) const;
00040     double uiVoltageInVolts( int counts ) const;
00041     double baseVoltageInVolts( int counts ) const;
00042     OperationalMode operationalModeAsEnum( int i ) const;
00043     GainSchedule gainScheduleAsEnum( int i ) const;
00044 
00045     // S.I. units -> raw RMP values
00046     int speedCommandAsRaw( double si ) const;
00047     int angularRateCommandAsRaw( double si ) const;
00048     uint16_t configurationCommandAsRaw( ConfigurationCommand cmd ) const;
00049     uint16_t maxVelocityScaleFactorAsRaw( double scale ) const;
00050     uint16_t maxTurnrateScaleFactorAsRaw( double scale ) const;
00051     uint16_t maxAccelerationScaleFactorAsRaw( double scale ) const;
00052     uint16_t maxCurrentLimitScaleFactorAsRaw( double scale ) const;
00053 
00054 private: 
00055 
00056     double countsPerM() const;
00057     double countsPerMperS() const;
00058     double countsPerRevolution() const;
00059     double countsPerNM() const;
00060 
00061     RmpModel model_;
00062 
00063 };
00064 
00065 }
00066 
00067 #endif