humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#pragma once

#include "motion_generator.h"

#include <ReflexxesAPI.h>

#include <RMLPositionFlags.h>

#include <RMLPositionInputParameters.h>

#include <RMLPositionOutputParameters.h>

namespace humotion{

namespace server{

class ReflexxesMotionGenerator : public MotionGenerator{

public:

    ReflexxesMotionGenerator(JointInterface *j, int dof, float t);

    ~ReflexxesMotionGenerator();

protected:

    void reflexxes_set_input(int dof, float target, float max_speed, float max_accel);

    void reflexxes_calculate_profile();

    //*****************************************

    ReflexxesAPI *reflexxes_api;

    RMLPositionInputParameters *reflexxes_position_input;

    RMLPositionOutputParameters *reflexxes_position_output;

    RMLPositionFlags reflexxes_motion_flags;

    //*****************************************

    int dof_count;

private:

};

}

}