bhandforceext.h

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/***************************************************************************
                          bhandforceext.h
                             -------------------
    copyright            : (c) 2004 Tim Baier
    email                : tbaier@informatik.uni-hamburg.de
 ***************************************************************************/

#ifndef BHANDFORCEEXT_H
#define BHANDFORCEEXT_H

#include <string>
#include <zbsplinefunction.h>

#include "bhand.h"
#include "bhandext.h"
#include "bhandforce.h"
#include "zlinearfunction.h"
#include "bhkinematic.h"
#include "bhfinger.h"
#include "bhspread.h"

#include "bhspeedgen.h"


class BHandForceExt : public BHandForce  {
public:

  BHandForceExt(std::string devName);


  virtual ~BHandForceExt();

  void init();


   void move(const Motors motors, const bool plotIt = false) throw (BHandException);

  void move(const Motors motors, const int position) throw (BHandException);

  void move(const Motors motors, const int position[4]) throw (BHandException);

#if 0

  void moveG(const Motors motors, const int position[4])throw (BHandException){};
#endif
  void moveG(const Motors motors) throw (BHandException);
  void moveG(const Motors motors, const int position) throw (BHandException);



  void adjustForce(const Motors motors, const double force) throw (BHandException);



  void moveForce(const Motors motors, double force[3], const bool sameSpeed = false) throw (BHandException, BHMotorException);

  void moveForce(const Motors motors, double force) throw (BHandException, BHMotorException);


  void force2File(std::string fileName, bool showPlot = false);




   void setMaxForce(const double force, const Motors motors = FINGERS);

   void setMinForce(const double force, const Motors motors = FINGERS);



   void getForce(double *forces, const bool update = true);

   void writeForce(std::ostream *stream);



   //void forceTester();



 protected:

    ZLinearFunction RealForceFunction[NUM_FINGERS];

    double toN(ZLinearFunction &f, double strain);
    int toStrain(ZLinearFunction &f, double force);

};


// ****************************
// **                        **
// ****************************
inline double BHandForceExt::toN(ZLinearFunction &f, double strain)
{
    return f.output(strain);
}


// ****************************
// **                        **
// ****************************
inline int BHandForceExt::toStrain(ZLinearFunction &f, double force)
{
    return (int) f.inverse(force);
}


// ****************************
// **                        **
// ****************************
inline void BHandForceExt::getForce(double *forces, const bool update)
{
  if(update){
    try{
      // std::cout << "  BHandForce::getForce() before " << std::endl;
      BHandForce::getForce();
      //std::cout << "  BHandForce::getForce() after " << std::endl;
    }
    catch(...){
      std::cout << " ** getForce(int *forces, const bool update) " << std::endl;
    }
  }

  // std::cout << "  BHandForce::getForce() before1 " << std::endl;
  //  for(int i = NUM_FINGERS-1; i >= 0; i--)
  //  forces[i] =  MoveParams->Fingers[i]->getForce();
  // std::cout << "  BHandForce::getForce() after2 " << std::endl;

  forces[0] =  toN(RealForceFunction[0], MoveParams->Fingers[0]->getForce());
  forces[1] =  toN(RealForceFunction[1], MoveParams->Fingers[1]->getForce());
  forces[2] =  toN(RealForceFunction[2], MoveParams->Fingers[2]->getForce());

}

#if 1
// ****************************
// **                        **
// ****************************
inline void BHandForceExt::moveForce(const Motors motors, double force) throw (BHandException, BHMotorException)
{
  double force3[3]; 
  force3[0] = force;
  force3[1] = force;
  force3[2] = force; 
  moveForce(motors, force3, true);
}
#endif


#if 1
// ****************************
// **                        **
// ****************************
inline void BHandForceExt::writeForce(std::ostream *stream)
{
  double forces[3] = {0,0,0};
  getForce(forces,true);
  *stream << forces[0] <<  "  " << forces[1] << " " << forces[2] << " ";
}
#endif

#endif

---

Tim Baier bhandlib v0.25

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