include/barrett/units.h

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/*
        Copyright 2009-2014 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/>.

*/

#ifndef BARRETT_UNITS_H_
#define BARRETT_UNITS_H_


#define BARRETT_UNITS_FIXED_SIZE_TYPEDEFS  \
        typedef ::barrett::units::CartesianForce::type cf_type;  \
        typedef ::barrett::units::CartesianTorque::type ct_type;  \
        typedef ::barrett::units::CartesianPosition::type cp_type;  \
        typedef ::barrett::units::CartesianVelocity::type cv_type;  \
        typedef ::barrett::units::CartesianAcceleration::type ca_type;  \
        typedef ::boost::tuple<cp_type, ::Eigen::Quaterniond> pose_type

#define BARRETT_UNITS_TYPEDEFS(dimension)  \
        typedef ::barrett::math::Matrix<dimension,dimension> sqm_type;  \
        typedef ::barrett::math::Vector<dimension>::type v_type;  \
        typedef ::barrett::units::JointTorques<dimension>::type jt_type;  \
        typedef ::barrett::units::JointPositions<dimension>::type jp_type;  \
        typedef ::barrett::units::JointVelocities<dimension>::type jv_type;  \
        typedef ::barrett::units::JointAccelerations<dimension>::type ja_type;  \
        BARRETT_UNITS_FIXED_SIZE_TYPEDEFS

#define BARRETT_UNITS_TEMPLATE_TYPEDEFS(dimension)  \
        typedef typename ::barrett::math::Matrix<dimension,dimension> sqm_type;  \
        typedef typename ::barrett::math::Vector<dimension>::type v_type;  \
        typedef typename ::barrett::units::JointTorques<dimension>::type jt_type;  \
        typedef typename ::barrett::units::JointPositions<dimension>::type jp_type;  \
        typedef typename ::barrett::units::JointVelocities<dimension>::type jv_type;  \
        typedef typename ::barrett::units::JointAccelerations<dimension>::type ja_type;  \
        BARRETT_UNITS_FIXED_SIZE_TYPEDEFS


#include <boost/tuple/tuple.hpp>
#include <Eigen/Geometry>

#include <barrett/math/matrix.h>


namespace barrett {
namespace units {


template<int R> struct JointTorques {
        typedef typename math::Vector<R, JointTorques<R> >::type type;
};

template<int R> struct JointPositions {
        typedef typename math::Vector<R, JointPositions<R> >::type type;
};

template<int R> struct JointVelocities {
        typedef typename math::Vector<R, JointVelocities<R> >::type type;
};

template<int R> struct JointAccelerations {
        typedef typename math::Vector<R, JointAccelerations<R> >::type type;
};


struct CartesianForce {
        typedef math::Vector<3, CartesianForce>::type type;
};

struct CartesianTorque {
        typedef math::Vector<3, CartesianTorque>::type type;
};

struct CartesianPosition {
        typedef math::Vector<3, CartesianPosition>::type type;
};

struct CartesianVelocity {
        typedef math::Vector<3, CartesianVelocity>::type type;
};

struct CartesianAcceleration {
        typedef math::Vector<3, CartesianAcceleration>::type type;
};


}
}


#endif /* BARRETT_UNITS_H_ */