55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
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#ifndef JOINT_H
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#define JOINT_H
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#include <vector>
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#include "model/Motor.h"
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#include "common/enumClass.h"
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class Joint{
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public:
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Joint(){}
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virtual ~Joint(){}
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void setJointKp (double jointKp);
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void setJointKd (double jointKd);
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void setJointQ (double jointQ);
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void setJointDq (double jointDq);
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void setJointTau(double jointTau);
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double getJointQ();
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double getJointDq();
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double getJointDDq();
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double getJointTau();
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void getMotorQ(std::vector<double> &motorQ);
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void getMotorDq(std::vector<double> &motorDq);
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void getMotorDDq(std::vector<double> &motorDDq);
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void getMotorTau(std::vector<double> &motorTau);
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void getCmd(std::vector<MOTOR_send> &cmd);
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void setState(std::vector<MOTOR_recv> &state);
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void setCaliBias(double cali, std::vector<double> bias);
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protected:
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JointMotorType _motorType;
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int _motorNum;
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double _jointInitAngle;
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std::vector<Motor*> _motor;
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};
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class Jointz1 : public Joint{
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public:
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Jointz1(int motorID, double direction);
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Jointz1(int motorID0, int motorID1, double direction0, double direction1);
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Jointz1(int motorID, int motorMsgOrder, double direction);
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Jointz1(int motorID0, int motorID1, int motorMsgOrder0, int motorMsgOrder1, double direction0, double direction1);
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~Jointz1(){}
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};
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class JointTigerHead : public Joint{
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public:
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JointTigerHead(int motorID, double direction);
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JointTigerHead(int motorID, int motorMsgOrder, double direction);
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~JointTigerHead(){}
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};
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#endif // JOINT_H
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