MALeg.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ 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.
 *
 *  AiBO+ 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., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include "core/MANum.hpp"
#include "MARobotStateUpdater.hpp"

#include <MCTypes.hpp>

namespace MA
{
typedef enum
{
  LegJoint1 = 0, 
  LegJoint2,     
  LegJoint3,     
} LegJointsType;

namespace Leg
{
typedef enum
{
  LF = 0, 
  LH,     
  RF,     
  RH,     
} LegTypes;

extern const MC::StringList LegTypeStrs;
}

typedef enum
{
  ForBackward = 0, 
  UpDownward,      
  Sidelong,        
  BentStretched,   
} LegMovingType;
}

struct MALeg : public MARobotStateUpdater
{
  MALeg();

  bool IsOnLeftSide() const;
  bool IsOnRightSide() const;
  bool IsOnFrontSide() const;
  bool IsOnHindSide() const;
  bool IsBackwardNearBody() const;
  bool IsForwardNearBody() const;

private:
  virtual void UpdateRobotState(MARobotState& state) override;

  void GenerateLegStopped(int cycle_time);

public:
  MA::Leg::LegTypes Type;
  MANum<int> Paw;
  MANum<int> Joint1;
  MANum<int> Force1;
  MANum<int> Joint2;
  MANum<int> Force2;
  MANum<int> Joint3;
  MANum<int> Force3;
  /*
   * Number of joints powered on
   * 0 - Off 1..3 - Number of joints switched on
   */
  MANum<int> PoweredJoints;
  /*
   * Forward-backward direction
   * -100 - backward 100 - forward
   */
  MANum<int> ForeBack;
  /*
   * Upward-downward direction
   * -100 - downward 100 - upward
   */
  MANum<int> UpDown;
  /*
   * Sidelong direction
   * 0 - least 100 - full
   */
  MANum<int> Sidelong;
  /*
   * Bent-stretched state
   * 0 - full stretched 100 - full bent
   */
  MANum<int> BentStretched;
  /*
   * The leg is stopped
   * 0 - Not stopped 100 - Stopped
   */
  MANum<int> Stopped;
  /*
   * The leg is overloaded
   * 0 - Not overloaded 1 - Overloaded
   */
  MANum<int> Overloaded;
  /*
   * The leg is moving
   * 0 - Not moving 1 - Moving
   */
  MANum<int> Moving;
  /*
   * The leg is in motion
   * 0 - Not moved 1 - In motion
   */
  MANum<int> InMotion;
  /*
   * The leg is being in lying position
   * 0 - Not lying position 1 - Lying position
   */
  MANum<int> IsLyingPosition;
  /*
   * The leg is being in standing position
   * 0 - Not standing position 1 - Standing position
   */
  MANum<int> IsStandingPosition;
  /*
   * The leg is being in sitting position
   * 0 - Not sitting position 1 - Sitting position
   */
  MANum<int> IsSittingPosition;
private:
  MAIntervalNum<int> StoppedFactor;
};