experiments/include/icubmotors.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           * 
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef ICUBMOTORS_H
#define ICUBMOTORS_H

#ifdef FARSA_USE_YARP_AND_ICUB

#include "experimentsconfig.h"
#include "neuroninterfaces.h"
#include "musclepair.h"
#include "robots.h"
#include "motors.h"

namespace farsa {

class MultiMotorController;

class iCubMotor : public Motor
{
public:
    iCubMotor(ConfigurationParameters& params, QString prefix);

    virtual ~iCubMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

protected:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    QString icubResource;

    QString neuronsIteratorResource;
};

class FARSA_EXPERIMENTS_API iCubArmRandomMotor : public iCubMotor {
public:
    iCubArmRandomMotor( ConfigurationParameters& params, QString prefix );
    ~iCubArmRandomMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString icubArm;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    int startJointId;
};

class FARSA_EXPERIMENTS_API iCubArmPosToPostureMotor : public iCubMotor {
public:
    iCubArmPosToPostureMotor( ConfigurationParameters& params, QString prefix );
    ~iCubArmPosToPostureMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString icubArm;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    int startJointId;
    bool is7Dof;
};

class FARSA_EXPERIMENTS_API iCubTorsoPosToPostureMotor : public iCubMotor {
public:
    iCubTorsoPosToPostureMotor( ConfigurationParameters& params, QString prefix );
    ~iCubTorsoPosToPostureMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    bool torsoDofs[3];
};

class FARSA_EXPERIMENTS_API iCubArmMusclesMotor : public iCubMotor {
public:
    iCubArmMusclesMotor( ConfigurationParameters& params, QString prefix );
    ~iCubArmMusclesMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    MusclePair **musclePairs;
    QString icubArm;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
};

class FARSA_EXPERIMENTS_API iCubHandMusclesMotor : public iCubMotor {
public:
    iCubHandMusclesMotor( ConfigurationParameters& params, QString prefix );
    ~iCubHandMusclesMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    MusclePair **musclePairs;
    QString icubHand;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
};

class FARSA_EXPERIMENTS_API iCubTorsoMusclesMotor : public iCubMotor {
public:
    iCubTorsoMusclesMotor( ConfigurationParameters& params, QString prefix );
    ~iCubTorsoMusclesMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    MusclePair **musclePairs;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
};

class FARSA_EXPERIMENTS_API iCubHeadMusclesMotor : public iCubMotor {
public:
    iCubHeadMusclesMotor( ConfigurationParameters& params, QString prefix );
    ~iCubHeadMusclesMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    MusclePair **musclePairs;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
};

class FARSA_EXPERIMENTS_API iCubArmPosToVelMotor : public iCubMotor {
public:
    iCubArmPosToVelMotor( ConfigurationParameters& params, QString prefix );
    ~iCubArmPosToVelMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString icubArm;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    ProportionalController pcontrol;
};

class FARSA_EXPERIMENTS_API iCubTorsoPosToVelMotor : public iCubMotor {
public:
    iCubTorsoPosToVelMotor( ConfigurationParameters& params, QString prefix );
    ~iCubTorsoPosToVelMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    ProportionalController pcontrol;
};

class FARSA_EXPERIMENTS_API iCubHeadPosToVelMotor : public iCubMotor {
public:
    iCubHeadPosToVelMotor( ConfigurationParameters& params, QString prefix );
    ~iCubHeadPosToVelMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    ProportionalController pcontrol;
};

class FARSA_EXPERIMENTS_API iCubHandPosToVelMotor : public iCubMotor {
public:
    iCubHandPosToVelMotor( ConfigurationParameters& params, QString prefix );
    ~iCubHandPosToVelMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString icubHand;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    ProportionalController pcontrol;
};

class FARSA_EXPERIMENTS_API iCubConfigurableHandPosToVelMotor : public iCubMotor
{
public:
    iCubConfigurableHandPosToVelMotor(ConfigurationParameters& params, QString prefix);

    ~iCubConfigurableHandPosToVelMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    QString m_icubHand;

    QVector<QVector<int> > m_jointsGroups;

    double m_maxClosure;

    MultiMotorController* m_armController;

    ProportionalController m_pcontrol;
};

class FARSA_EXPERIMENTS_API iCubHeadVelocityMotor : public iCubMotor
{
public:
    iCubHeadVelocityMotor(ConfigurationParameters& params, QString prefix);

    ~iCubHeadVelocityMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    MultiMotorController* m_headNeckController;
};

class FARSA_EXPERIMENTS_API iCubArmVelocityMotor : public iCubMotor {
public:
    iCubArmVelocityMotor( ConfigurationParameters& params, QString prefix );
    ~iCubArmVelocityMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString icubArm;
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    int startJointId;
    bool is7Dof;
    double maxVelocity;
};

class FARSA_EXPERIMENTS_API iCubTorsoVelocityMotor : public iCubMotor {
public:
    iCubTorsoVelocityMotor( ConfigurationParameters& params, QString prefix );
    ~iCubTorsoVelocityMotor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    iCubRobot* icub;
    MultiMotorController* icubMotors;
    bool torsoDofs[3];
    double maxVelocity;
};

} // end namespace farsa

#endif

#endif