include/barrett/systems/gravity_compensator.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * gravity_compensator.h
 *
 *  Created on: Feb 9, 2010
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_GRAVITY_COMPENSATOR_H_
#define BARRETT_SYSTEMS_GRAVITY_COMPENSATOR_H_


#include <Eigen/Core>
#include <libconfig.h++>

#include <barrett/detail/ca_macro.h>
#include <barrett/units.h>
#include <barrett/cdlbt/calgrav.h>

#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>
#include <barrett/systems/kinematics_base.h>


namespace barrett {
namespace systems {


template<size_t DOF>
class GravityCompensator : public System,
                                                   public KinematicsInput<DOF>,
                                                   public SingleOutput<typename units::JointTorques<DOF>::type> {

        BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);

public:
        explicit GravityCompensator(const libconfig::Setting& setting,
                        const std::string& sysName = "GravityCompensator") :
                System(sysName), KinematicsInput<DOF>(this), SingleOutput<jt_type>(this), impl(NULL), data()
        {
                bt_calgrav_create(&impl, setting.getCSetting(), DOF);
        }

        bool setGravity(double new_grav) {
                return(!bt_calgrav_update(impl, new_grav));
        }
        virtual ~GravityCompensator() {
                mandatoryCleanUp();

                bt_calgrav_destroy(impl);
                impl = NULL;
        }

protected:
        virtual void operate() {
                bt_calgrav_eval(impl, this->kinInput.getValue().impl, data.asGslType());
                this->outputValue->setData(&data);
        }

        struct bt_calgrav* impl;
        jt_type data;

private:
        DISALLOW_COPY_AND_ASSIGN(GravityCompensator);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


}
}


#endif /* BARRETT_SYSTEMS_GRAVITY_COMPENSATOR_H_ */