include/barrett/systems/tool_force_to_joint_torques.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>
*/

/*
 * tool_force_to_joint_torques.h
 *
 *  Created on: Jan 18, 2010
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_TOOL_FORCE_TO_JOINT_TORQUES_H_
#define BARRETT_SYSTEMS_TOOL_FORCE_TO_JOINT_TORQUES_H_


#include <Eigen/Core>
#include <gsl/gsl_blas.h>

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


namespace barrett {
namespace systems {


template<size_t DOF>
class ToolForceToJointTorques :
        public SingleIO<units::CartesianForce::type, typename units::JointTorques<DOF>::type>,
        public KinematicsInput<DOF>
{

        BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);

public:
        ToolForceToJointTorques(const std::string& sysName = "ToolForceToJointTorques") :
                SingleIO<cf_type, jt_type>(sysName), KinematicsInput<DOF>(this) {}
        virtual ~ToolForceToJointTorques() { this->mandatoryCleanUp(); }

protected:
        jt_type data;

        virtual void operate() {
                // Multiply by the Jacobian-transpose at the tool
                gsl_blas_dgemv(CblasTrans, 1.0,
                                this->kinInput.getValue().impl->tool_jacobian_linear,
                                this->input.getValue().asGslType(), 0.0, data.asGslType());

                this->outputValue->setData(&data);
        }

private:
        DISALLOW_COPY_AND_ASSIGN(ToolForceToJointTorques);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


}
}


#endif /* BARRETT_SYSTEMS_TOOL_FORCE_TO_JOINT_TORQUES_H_ */