shadow_hand.h

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/*      File: shadow_hand.h
 *       This file is part of the program ethercatcpp-shadow
 *       Program description : EtherCAT driver library for shadow hand.
 *       Copyright (C) 2018-2022 -  Robin Passama (CNRS/LIRMM) Arnaud Meline
 * (CNRS/LIRMM) Benjamin Navarro (CNRS/LIRMM). All Right reserved.
 *
 *       This software is free software: you can redistribute it and/or modify
 *       it under the terms of the CeCILL-C license as published by
 *       the CEA CNRS INRIA, either version 1
 *       of the License, or (at your option) any later version.
 *       This software 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
 *       CeCILL-C License for more details.
 *
 *       You should have received a copy of the CeCILL-C License
 *       along with this software. If not, it can be found on the official
 * website of the CeCILL licenses family (http://www.cecill.info/index.en.html).
 */
#pragma once
 
#include <ethercatcpp/shadow/common.h>
#include <ethercatcpp/core.h>
 
#include <math-utils/interpolator.h>
 
#include <memory>
 
namespace ethercatcpp {
 
class ShadowHand : public BusDevice {
public:
    ShadowHand(shadow::HandID hand_id, shadow::BiotacMode biotac_electrode_mode,
               shadow::ControlMode control_mode,
               std::unique_ptr<
                   math::Interpolator<std::array<uint16_t, shadow::joint_count>,
                                      std::array<double, shadow::joint_count>>>
                   joint_position_interpolator);
 
    ShadowHand(shadow::HandID hand_id, shadow::BiotacMode biotac_electrode_mode,
               shadow::ControlMode control_mode);
 
    ~ShadowHand();
 
    const shadow::RawHandState& state() const;
 
    const shadow::RawHandCommand& command() const;
 
    shadow::RawHandCommand& command();
 
    void read_joints_torques();
 
    void read_raw_joints_positions();
 
    void read_joints_positions();
 
    void read_biotacs_pressures();
 
    void read_biotacs_temperatures();
 
    void read_biotacs_electrodes();
 
    void read();
 
    void write_joints_commands();
 
    void write();
 
    // Printing all datas
    void print_fingers_positions();
    void print_fingers_torques();
    void print_biotacs_data();
 
    static std::unique_ptr<
        math::Interpolator<std::array<uint16_t, shadow::joint_count>,
                           std::array<double, shadow::joint_count>>>
    default_joint_calibrator(shadow::HandID hand_id);
 
private:
    class pImpl;
    std::unique_ptr<pImpl> impl_;
 
    shadow::RawHandState state_;
    shadow::RawHandCommand command_;
 
    pImpl& impl() {
        return *impl_;
    }
};
 
} // namespace ethercatcpp