include/barrett/systems/kinematics_base.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>
*/

/*
 * kinematics_base.h
 *
 *  Created on: Jan 15, 2010
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_KINEMATICS_BASE_H_
#define BARRETT_SYSTEMS_KINEMATICS_BASE_H_


#include <libconfig.h++>

#include <barrett/detail/ca_macro.h>
#include <barrett/units.h>
#include <barrett/math/kinematics.h>
#include <barrett/systems/abstract/system.h>


namespace barrett {
namespace systems {


template<size_t DOF>
class KinematicsInput {  // not a System in order to avoid diamond inheritance
// IO
public: System::Input<math::Kinematics<DOF> > kinInput;


public:
        explicit KinematicsInput(System* parentSys) :
                kinInput(parentSys) {}

private:
        DISALLOW_COPY_AND_ASSIGN(KinematicsInput);
};


template<size_t DOF>
class KinematicsBase : public System {
// IO
public:         Input<typename units::JointPositions<DOF>::type> jpInput;
public:         Input<typename units::JointVelocities<DOF>::type> jvInput;
public:         Output<math::Kinematics<DOF> > kinOutput;
protected:      typename Output<math::Kinematics<DOF> >::Value* kinOutputValue;


public:
        explicit KinematicsBase(const libconfig::Setting& setting, const std::string& sysName = "KinematicsBase") :
                System(sysName),
                jpInput(this), jvInput(this),
                kinOutput(this, &kinOutputValue), kin(setting) {}
        virtual ~KinematicsBase() { mandatoryCleanUp(); }

protected:
        virtual void operate() {
                kin.eval(jpInput.getValue(), jvInput.getValue());
                kinOutputValue->setData(&kin);
        }

        math::Kinematics<DOF> kin;

private:
        DISALLOW_COPY_AND_ASSIGN(KinematicsBase);
};


}
}


#endif /* BARRETT_SYSTEMS_KINEMATICS_BASE_H_ */