ControlMode.h
Go to the documentation of this file.00001 /* ============================================================ 00002 * 00003 * This file is a part of RCI project 00004 * 00005 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de> 00006 * 00007 * This file may be licensed under the terms of the 00008 * GNU Lesser General Public License Version 3 (the ``LGPL''), 00009 * or (at your option) any later version. 00010 * 00011 * Software distributed under the License is distributed 00012 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either 00013 * express or implied. See the LGPL for the specific language 00014 * governing rights and limitations. 00015 * 00016 * You should have received a copy of the LGPL along with this 00017 * program. If not, go to http://www.gnu.org/licenses/lgpl.html 00018 * or write to the Free Software Foundation, Inc., 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00020 * 00021 * The development of this software was supported by: 00022 * CoR-Lab, Research Institute for Cognition and Robotics 00023 * Bielefeld University 00024 * 00025 * ============================================================ */ 00026 00027 #pragma once 00028 00029 #include <iostream> 00030 #include <vector> 00031 00032 #include <boost/shared_ptr.hpp> 00033 00034 #include "ControlAspect.h" 00035 00036 namespace rci { 00037 00038 class ControlMode; 00039 typedef boost::shared_ptr<ControlMode> ControlModePtr; 00040 00048 class ControlMode { 00049 00050 public: 00051 00057 ControlMode(std::string name); 00058 00062 virtual ~ControlMode(); 00063 00068 std::string getName() const; 00069 00075 bool equals(const ControlModePtr &mode) const; 00076 00082 bool supports(const ControlAspectPtr &mode) const; 00083 00087 void addControlAspect(ControlAspectPtr mode); 00088 00092 ControlModePtr combineWith(const ControlModePtr &mode, 00093 const std::string &name) const; 00094 00099 std::string print() const; 00100 00106 static ControlModePtr create(std::string name); 00107 00114 static ControlModePtr create(std::string name, ControlAspectPtr aspect); 00115 00123 static ControlModePtr create(std::string name, ControlAspectPtr aspect1, 00124 ControlAspectPtr aspect2); 00125 00126 protected: 00130 std::string name; 00131 00137 std::vector<ControlAspectPtr> contained; 00138 00142 unsigned int numAspects() const; 00143 00144 private: 00145 00149 ControlMode(const ControlMode& controlmode); 00150 }; 00151 00155 static ControlModePtr modeNoControl = ControlMode::create( 00156 "Inactive / no Control", noControl); 00157 00162 static ControlModePtr modePoseControl = ControlMode::create( 00163 "Cartesian Pose Control", poseControl); 00164 00169 static ControlModePtr modeForceControl = ControlMode::create( 00170 "Cartesian Force Control", forceControl); 00171 00176 static ControlModePtr modeJointPositionControl = ControlMode::create( 00177 "Joint Position Control", jointPositionControl); 00178 00179 /* Compliance */ 00180 00185 static ControlModePtr modeJointComplianceControl = ControlMode::create( 00186 "Joint Compliance Control", jointComplianceControl); 00187 00192 static ControlModePtr modeCartesianComplianceControl = ControlMode::create( 00193 "Cartesian Compliance Control", cartesianComplianceControl); 00194 00198 static ControlModePtr modeJointVelocityControl = ControlMode::create( 00199 "Joint Velocity Control", jointVelocityControl); 00200 00204 static ControlModePtr modeJointTorqueControl = ControlMode::create( 00205 "Joint Torque Control", jointTorqueControl); 00206 }
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