ControlFrame.h

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#ifndef _OCRA_CONTROL_FRAME_H_
#define _OCRA_CONTROL_FRAME_H_

#include "ocra/optim/NamedInstance.h"
#include <ocra/util/MathTypes.h>
#include <ocra/util/Macros.h>
#include "Eigen/Lgsm"
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>
#include <yarp/os/Semaphore.h>

namespace ocra
{
  class Model;
}

namespace ocra
{
  // --- ABSTRACT -----------------------------------------------


  class ControlFrame
    : public NamedInstance
    , boost::noncopyable
  {
      DEFINE_CLASS_POINTER_TYPEDEFS(ControlFrame)

  protected:
    ControlFrame(const std::string& name);

  public:
    virtual ~ControlFrame() = 0;

    virtual Eigen::Displacementd getPosition() const = 0;
    virtual Eigen::Twistd getVelocity() const = 0;
    virtual Eigen::Twistd getAcceleration() const = 0;
    virtual Eigen::Wrenchd getWrench() const = 0;
    virtual Eigen::Matrix<double,6,Eigen::Dynamic> getJacobian() const = 0;
    virtual bool dependsOnModelConfiguration() const = 0;
    virtual const Model& getModel() const = 0;
  };


  // --- EXTERNAL INPUT -----------------------------------------


  class TargetFrame
    : public ControlFrame
  {
      DEFINE_CLASS_POINTER_TYPEDEFS(TargetFrame)
  public:
    TargetFrame(const std::string& name, const Model& model);

    Eigen::Displacementd getPosition() const;
    Eigen::Twistd getVelocity() const;
    Eigen::Twistd getAcceleration() const;
    Eigen::Wrenchd getWrench() const;
    Eigen::Matrix<double,6,Eigen::Dynamic> getJacobian() const;
    bool dependsOnModelConfiguration() const;
    const Model& getModel() const;

    void setPosition(const Eigen::Displacementd& H);
    void setVelocity(const Eigen::Twistd& T);
    void setAcceleration(const Eigen::Twistd& gamma);
    void setWrench(const Eigen::Wrenchd& W);

  private:
    struct Pimpl;
    boost::shared_ptr<Pimpl> pimpl;
  };


  // --- ATTACHED TO A SEGMENT ----------------------------------

  class SegmentFrame
    : public ControlFrame
  {
      DEFINE_CLASS_POINTER_TYPEDEFS(SegmentFrame)
  public:
    SegmentFrame(const std::string& name, const Model& model, const std::string& segname);
    SegmentFrame(const std::string& name, const Model& model, const std::string& segname, const Eigen::Displacementd& H_local);
    SegmentFrame(const std::string& name, const Model& model, int segmentId);
    SegmentFrame(const std::string& name, const Model& model, int segmentId, const Eigen::Displacementd& H_local);

    Eigen::Displacementd getPosition() const;
    Eigen::Twistd getVelocity() const;
    Eigen::Twistd getAcceleration() const;
    Eigen::Wrenchd getWrench() const;
    Eigen::Matrix<double,6,Eigen::Dynamic> getJacobian() const;
    bool dependsOnModelConfiguration() const;
    const Model& getModel() const;
    int getSegmentIndex() const;

  private:
    struct Pimpl;
    boost::shared_ptr<Pimpl> pimpl;
  };


  // --- ATTACHED TO THE COM ------------------------------------

  class CoMFrame
    : public ControlFrame
  {
      DEFINE_CLASS_POINTER_TYPEDEFS(CoMFrame)
  public:
    CoMFrame(const std::string& name, const Model& model);

    Eigen::Displacementd getPosition() const;
    Eigen::Twistd getVelocity() const;
    Eigen::Twistd getAcceleration() const;
    Eigen::Wrenchd getWrench() const;
    Eigen::Matrix<double,6,Eigen::Dynamic> getJacobian() const;
    bool dependsOnModelConfiguration() const;
    const Model& getModel() const;

  private:
    struct Pimpl;
    boost::shared_ptr<Pimpl> pimpl;
  };
}

#endif

// cmake:sourcegroup=Api