PositionControlAccuracyExternalPid.h

/*
 * iCub Robot Unit Tests (Robot Testing Framework)
 *
 * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef _POSITIONACCURACYEXTERNALPID_H_
#define _POSITIONACCURACYEXTERNALPID_H_
 
#include <string>
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/PolyDriver.h>
//#include <iCub/ctrl/math.h>
#include <iCub/ctrl/pids.h>
 
class PositionControlAccuracyExernalPid : public yarp::robottestingframework::TestCase {
public:
    PositionControlAccuracyExernalPid();
    virtual ~PositionControlAccuracyExernalPid();
 
    virtual bool setup(yarp::os::Property& property);
 
    virtual void tearDown();
 
    virtual void run();
 
    bool goHome();
    void executeCmd();
    void setMode(int desired_mode);
    void saveToFile(std::string filename, yarp::os::Bottle &b);
 
private:
    std::string m_robotName;
    std::string m_partName;
    int*        m_jointsList;
    int         m_cycles;
    double      m_sampleTime;
    double*     m_zeros;
    double      m_step;
    int         m_n_part_joints;
    int         m_n_cmd_joints;
    yarp::os::Bottle      m_dataToSave;
 
    yarp::dev::PolyDriver        *dd;
    yarp::dev::IPositionControl *ipos;
    yarp::dev::IControlMode     *icmd;
    yarp::dev::IInteractionMode  *iimd;
    yarp::dev::IEncoders         *ienc;
    yarp::dev::IPositionDirect   *idir;
    yarp::dev::IPWMControl       *ipwm;
 
    iCub::ctrl::parallelPID      *ppid;
 
    double m_pospid_vup;
    double m_pospid_vdown;
 
 
    double  m_cmd_single;
    double* m_encoders;
    std::string  m_requested_filename;
    double m_home_tolerance;
    double m_step_duration;
};
 
#endif