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controllerDuty.hpp
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controllerDuty.hpp
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//| This file is a part of the ERC ResiBots project.
//| Copyright 2015, ISIR / Universite Pierre et Marie Curie (UPMC)
//| Main contributor(s): Jean-Baptiste Mouret, [email protected]
//| Antoine Cully, [email protected]
//|
//| This software is governed by the CeCILL license under French law
//| and abiding by the rules of distribution of free software. You
//| can use, modify and/ or redistribute the software under the terms
//| of the CeCILL license as circulated by CEA, CNRS and INRIA at the
//| following URL "http://www.cecill.info".
//|
//| As a counterpart to the access to the source code and rights to
//| copy, modify and redistribute granted by the license, users are
//| provided only with a limited warranty and the software's author,
//| the holder of the economic rights, and the successive licensors
//| have only limited liability.
//|
//| In this respect, the user's attention is drawn to the risks
//| associated with loading, using, modifying and/or developing or
//| reproducing the software by the user in light of its specific
//| status of free software, that may mean that it is complicated to
//| manipulate, and that also therefore means that it is reserved for
//| developers and experienced professionals having in-depth computer
//| knowledge. Users are therefore encouraged to load and test the
//| software's suitability as regards their requirements in conditions
//| enabling the security of their systems and/or data to be ensured
//| and, more generally, to use and operate it in the same conditions
//| as regards security.
//|
//| The fact that you are presently reading this means that you have
//| had knowledge of the CeCILL license and that you accept its terms.
#ifndef CONTROLLERPHASE_HPP
#define CONTROLLERPHASE_HPP
#include <vector>
#include <boost/shared_ptr.hpp>
#include "robot/hexapod.hh"
#include <boost/array.hpp>
#define ARRAY_DIM 100
class ControllerDuty {
public:
typedef boost::shared_ptr<robot::Hexapod> robot_t;
typedef boost::array<float, ARRAY_DIM> array_t;
protected:
std::vector<array_t> _legs0commands;
std::vector<array_t> _legs1commands;
std::vector<array_t> _legs2commands;
std::vector<array_t> _legs3commands;
std::vector<array_t> _legs4commands;
std::vector<array_t> _legs5commands;
std::vector<int> _brokenLegs;
public:
ControllerDuty(const std::vector<float>& ctrl, std::vector<int> brokenLegs) : _brokenLegs(brokenLegs)
{
assert(ctrl.size() == 36);
_legs0commands.push_back(control_signal(ctrl[0], ctrl[1], ctrl[2]));
_legs0commands.push_back(control_signal(ctrl[3], ctrl[4], ctrl[5]));
_legs0commands.push_back(control_signal(ctrl[3], ctrl[4], ctrl[5]));
_legs1commands.push_back(control_signal(ctrl[6], ctrl[7], ctrl[8]));
_legs1commands.push_back(control_signal(ctrl[9], ctrl[10], ctrl[11]));
_legs1commands.push_back(control_signal(ctrl[9], ctrl[10], ctrl[11]));
_legs2commands.push_back(control_signal(ctrl[12], ctrl[13], ctrl[14]));
_legs2commands.push_back(control_signal(ctrl[15], ctrl[16], ctrl[17]));
_legs2commands.push_back(control_signal(ctrl[15], ctrl[16], ctrl[17]));
_legs3commands.push_back(control_signal(ctrl[18], ctrl[19], ctrl[20]));
_legs3commands.push_back(control_signal(ctrl[21], ctrl[22], ctrl[23]));
_legs3commands.push_back(control_signal(ctrl[21], ctrl[22], ctrl[23]));
_legs4commands.push_back(control_signal(ctrl[24], ctrl[25], ctrl[26]));
_legs4commands.push_back(control_signal(ctrl[27], ctrl[28], ctrl[29]));
_legs4commands.push_back(control_signal(ctrl[27], ctrl[28], ctrl[29]));
_legs5commands.push_back(control_signal(ctrl[30], ctrl[31], ctrl[32]));
_legs5commands.push_back(control_signal(ctrl[33], ctrl[34], ctrl[35]));
_legs5commands.push_back(control_signal(ctrl[33], ctrl[34], ctrl[35]));
/* for(int i=0;i<_legs0commands[0].size();i++)
std::cout<<_legs0commands[0][i]<<" ";
std::cout<<std::endl;*/
}
array_t control_signal(float amplitude, float phase, float duty_cycle);
bool isBroken(int leg)
{
for (size_t j = 0; j < _brokenLegs.size(); j++) {
if (leg == _brokenLegs[j]) {
return true;
}
}
return false;
}
void moveRobot(robot_t& robot, float t);
std::vector<int> get_pos_dyna(float t);
// std::vector<int> get_speeds_dyna( );
// std::vector<bool> get_directions_dyna( );
};
#endif