jointLimits.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 _JOINTLIMITS_H_
#define _JOINTLIMITS_H_
 
#include <string>
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Bottle.h>
#include <yarp/sig/Matrix.h>
 
class JointLimits : public yarp::robottestingframework::TestCase {
public:
    JointLimits();
    virtual ~JointLimits();
 
    virtual bool setup(yarp::os::Property& property);
 
    virtual void tearDown();
 
    virtual void run();
 
    void goTo(yarp::sig::Vector position);
    bool goToSingle(int i, double pos, double *reached_pos);
    bool goToSingleExceed(int i, double position_to_reach, double limit, double reachedLimit, double *reached_pos);
 
    void setMode(int desired_mode);
    void saveToFile(std::string filename, yarp::os::Bottle &b);
 
private:
    std::string robotName;
    std::string partName;
    yarp::sig::Vector jointsList;
 
    double tolerance;
 
    int    n_part_joints;
 
    yarp::dev::PolyDriver        *dd;
    yarp::dev::IPositionControl *ipos;
    yarp::dev::IControlMode     *icmd;
    yarp::dev::IInteractionMode  *iimd;
    yarp::dev::IEncoders         *ienc;
    yarp::dev::IControlLimits    *ilim;
    yarp::dev::IPidControl       *ipid;
 
    yarp::sig::Vector enc_jnt;
    yarp::sig::Vector max_lims;
    yarp::sig::Vector min_lims;
    yarp::sig::Vector outputLimit;
    yarp::sig::Vector outOfBoundPos;
    yarp::sig::Vector toleranceList;
    yarp::sig::Vector home;
    yarp::sig::Vector speed;
 
    bool pids_saved;
    yarp::dev::Pid* original_pids;
};
 
#endif //_JOINTLIMITS_H