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.

*/

#ifndef INCLUDE_HUMOTION_SERVER_MOTION_GENERATOR_H_

#define INCLUDE_HUMOTION_SERVER_MOTION_GENERATOR_H_

#include <boost/date_time/posix_time/posix_time.hpp>

#include <string>

#include "humotion/server/joint_interface.h"

namespace humotion {

namespace server {

class MotionGenerator {

 public:

    explicit MotionGenerator(JointInterface *j);

    ~MotionGenerator();

    virtual void calculate_targets() = 0;

    virtual void publish_targets() = 0;

    virtual void set_gaze_target(GazeState s);

    virtual void set_mouth_target(MouthState s);

 protected:

    float get_current_position(int joint_id);

    float get_current_speed(int joint_id);

    humotion::Timestamp get_timestamped_state(int joint_id, float *position, float *velocity);

    float limit_target(int joint_id, float val);

    bool mouth_target_input_active();

    bool gaze_target_input_active();

    JointInterface *joint_interface_;

    // gaze

    GazeState  requested_gaze_state_;

    boost::system_time last_gaze_target_update_;

    // mouth

    MouthState requested_mouth_target_;

    boost::system_time last_mouth_target_update_;

};

}  // namespace server

}  // namespace humotion

#endif  // INCLUDE_HUMOTION_SERVER_MOTION_GENERATOR_H_