---

ArmMC.h

Go to the documentation of this file.

//
//       Title           : ArmMC.hpp
//       Project         : D&D
//       Created         : Thursday  August 1, 1996
//       Author          : Mitch Pryor & Chetan Kapoor
//       Platforms       : WIN32                        
//       Copyright       : The University of Texas at Austin
//                         All Rights Reserved.
//       Access          : Company Confidential
//       Purpose         : develop a class hierarchy for manual controllers             
//
//-------------------------------------------------------------------------
//
//       Classes:
//               ArmMC
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//-------------------------------------------------------------------------
//
//       $Revisions$
//          Modified June 9, 1998 by Chalongrath Pholsiri
//
//       $Log: ArmMC.h,v $
//       Revision 1.3  2005/03/14 21:54:05  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.2  2004/05/27 19:24:07  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.1  2003/08/18 21:23:29  pmarch
//       Initial commit of ManualController
//
//

#ifndef ArmMC_h
#define ArmMC_h


#include "AbsPosMC.h"
#include "ForwardKinematics/FKPosition.h"
#include "ForwardKinematics/FKJacobian.h"

//void CALLBACK SetJointThread(UINT uID, UINT uMsg, DWORD dwUser, DWORD dw1, DWORD dw2);

namespace OSCAR {

  struct ControlParam
  {
          int joint, iter;
          double value, kp, kv, threshold;

  };

  class ArmMC : public AbsPosMC
  {
          public:
                  //constructors
                  ArmMC(const int numberOfButtons,
                  const int numberOfDeltas,
                  const HandPose& startingHand,
                      const Vector& scalingForces,
                      const Vector& maximumForces,
                          const String& nameOfDHFile,
                                  const String& nameOfMotorGainFile,
                  const String& name,
                                  MC_TYPE type);
                  
                  ArmMC(const int numberOfButtons,
                  const int numberOfDeltas,
                  const HandPose& startingHand,
                      const Vector& scalingForces,
                      const Vector& maximumForces,
                          const String& nameOfDHFile,
                  const String& name,
                                  MC_TYPE type);

                  //destuctor
                  virtual ~ArmMC();
                  
                  //public methods
                  void SetForces(Vector& forces);
                  void SetTorques(Vector& torques);
                  void SetScalingForces(Vector& scalingForces);
                  void SetMaximumForces(Vector& maximumForces);         
          
                  const void GetForces(Vector& forces);
                  const void GetAngles(Vector& angles);
                  const void GetScalingForces(Vector& scalingForces);
                  const void GetMaximumForces(Vector& maximumForces);
          const void GetTorques(Vector&);
          const int GetPCSDeltas(Vector&);

          int Initialize();
          int GetPacketFromMC();
          int SendPacketToMC();
          void SetArmPose(const Xform&);
                  virtual void GetAnglesFromMC() {};
                  
                  // Position control functions and members
  //            void SetJointAngle(int joint, int iter, double value, double kp, double kv, double threshold);
  //            void SetJointAngles(int iter, Vector& values, Vector& kps, Vector& kvs, Vector& thresholds);
                  double GetErrorRate(int joint);
                  const void GetErrorRates(Vector& speeds);
                  void UpdatePastErrorRates();
                  ControlParam  CParam;
                  Vector                *instErrorRates;
                  Vector                *prevErrors;

                  // Client-server related functions
                  int GetPacketFromServer();
                  int SendVoltagesToServer();
                  int Listen();
          
          protected:
                  //protected data members
          Vector                *forces;        // forces at EEF
          Vector                *scalingForces;
          Vector                *maximumForces;
      Vector            *torques;       // joint torques
          Vector                *voltages;
          FKJacobian    *jacobian;
          Xform                 handXform;
          Xform                 prevHandXform;
          Xform                 deltaXform;
    HandPose      previousHand;
          HandPose      deltaHand;
          Vector3               previousPosition;
  //    PCSHandPose   previousPCSHand;
      Vector            *angles;
      Vector            *PCSdeltas;
          MatrixData    *motorGainMD;
          Matrix                *motorGainMat;
          Matrix                *pastErrorRates;
          Vector                *accumErrors;
          int                           filterLength;
          

      // protected methods
    void CalculateDeltas();
      void CalculateTorques();
          virtual void CalculateVoltages();
      void CheckRotDeltas();
      virtual void SendVoltagesToMC() {};
          void ScaleDeltas();

          double CalcRate(int joint);
          double MaxVk(int joint);
          double MinVk(int joint);
  };

}
#endif //ArmMC_h

RRG Homepage

OSCAR Overview

OSCAR Tutorials

Simulations