CartesianVelocityRamp.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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, see <http://www.gnu.org/licenses/>.
 *
 * @author     Sonja Marahrens (sonja dot marahrens)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Dense>
 
#include <VirtualRobot/IK/IKSolver.h>
#include <VirtualRobot/VirtualRobot.h>
 
namespace armarx
{
    class CartesianVelocityRamp;
    using CartesianVelocityRampPtr = std::shared_ptr<CartesianVelocityRamp>;
 
    class CartesianVelocityRamp
    {
    public:
        CartesianVelocityRamp();
        void setState(const Eigen::VectorXf& state,
                      VirtualRobot::IKSolver::CartesianSelection mode);
 
        Eigen::VectorXf update(const Eigen::VectorXf& target, float dt);
 
        void setMaxPositionAcceleration(float maxPositionAcceleration);
        void setMaxOrientationAcceleration(float maxOrientationAcceleration);
 
        float getMaxPositionAcceleration();
        float getMaxOrientationAcceleration();
 
    private:
        float maxPositionAcceleration = 0;
        float maxOrientationAcceleration = 0;
 
        Eigen::VectorXf state = Eigen::VectorXf::Zero(6);
        VirtualRobot::IKSolver::CartesianSelection mode =
            VirtualRobot::IKSolver::CartesianSelection::All;
    };
} // namespace armarx