CouplingICubHandMk2.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2024 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef COUPLINGXCUBHANDMK5_H
#define COUPLINGXCUBHANDMK5_H
 
#include <yarp/os/LogComponent.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ImplementJointCoupling.h>
#include "CouplingICubHandMk2_ParamsParser.h"
 
#include <unordered_map>
#include <vector>
#include <string>
 
 
YARP_DECLARE_LOG_COMPONENT(COUPLINGXCUBHANDMK5)
 
 
struct FingerParameters
{
    double L0x;
    double L0y;
    double q2bias;
    double q1off;
    double k;
    double d;
    double l;
    double b;
};
 
class CouplingICubHandMk2 : public yarp::dev::DeviceDriver,
                            public yarp::dev::ImplementJointCoupling,
                            public CouplingICubHandMk2_ParamsParser {
public:
    CouplingICubHandMk2() = default;
    virtual ~CouplingICubHandMk2() override = default;
    bool convertFromPhysicalJointsToActuatedAxesPos(const yarp::sig::Vector& physJointsPos, yarp::sig::Vector& actAxesPos) override;
    bool convertFromPhysicalJointsToActuatedAxesVel(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, yarp::sig::Vector& actAxesVel) override;
    bool convertFromPhysicalJointsToActuatedAxesAcc(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, const yarp::sig::Vector& physJointsAcc, yarp::sig::Vector& actAxesAcc) override;
    bool convertFromPhysicalJointsToActuatedAxesTrq(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsTrq, yarp::sig::Vector& actAxesTrq) override;
    bool convertFromActuatedAxesToPhysicalJointsPos(const yarp::sig::Vector& actAxesPos, yarp::sig::Vector& physJointsPos) override;
    bool convertFromActuatedAxesToPhysicalJointsVel(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesVel, yarp::sig::Vector& physJointsVel) override;
    bool convertFromActuatedAxesToPhysicalJointsAcc(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesVel, const yarp::sig::Vector& actAxesAcc, yarp::sig::Vector& physJointsAcc) override;
    bool convertFromActuatedAxesToPhysicalJointsTrq(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesTrq, yarp::sig::Vector& physJointsTrq) override;
 
    // //DeviceDriver
    bool open(yarp::os::Searchable& config) override;
private:
 
    bool populateCouplingParameters();
};
 
#endif // COUPLINGXCUBHANDMK5_H