gait_engine.h

// Base class for all gait engines
// File: gait_engine.h
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef GAIT_ENGINE_H
#define GAIT_ENGINE_H

// Includes
#include <gait/gait_common.h>
#include <gait/gait_interface.h>

// Forwards declarations
namespace robotcontrol
{
    class RobotModel;
}

// Gait namespace
namespace gait
{
    // Class forward declarations
    class Gait;
    
    class GaitEngine
    {
    public:
        GaitEngine()
         : model(NULL)
         , haltJointCmd()
         , haltJointEffort()
         , haltUseRawJointCmds(false)
         , m_gait(NULL)
         , m_posX(0.0)
         , m_posY(0.0)
         , m_rotZ(0.0)
        {
            in.reset();
            out.reset();
            GaitEngine::updateHaltPose();
            GaitEngine::updateOdometry();
        }

        virtual ~GaitEngine() {}

        virtual void reset() {}

        virtual void updateHaltPose();

        virtual void step();

        virtual void setOdometry(double posX, double posY, double rotZ);

        virtual void updateOdometry();

        virtual void handleJoystickButton(int button) {}

        // Gait engine data interface structs
        GaitEngineInput in;   
        GaitEngineOutput out; 

    protected:
        const robotcontrol::RobotModel* model;

        void resetBase()
        {
            in.reset();
            out.reset();
            updateHaltPose();
            m_posX = 0.0;
            m_posY = 0.0;
            m_rotZ = 0.0;
        }

        // Halt pose specification
        double haltJointCmd[NUM_JOINTS];    
        double haltJointEffort[NUM_JOINTS]; 
        bool   haltUseRawJointCmds;         
        
        // Pointer to the owning gait class
        const Gait* m_gait;

    private:
        // Internal variables
        double m_posX;
        double m_posY;
        double m_rotZ;
        
        // Function to set gait owner
        void setGaitOwner(const Gait* gaitPtr) { m_gait = gaitPtr; }

        // Friend classes
        friend class Gait;
    };
}

#endif /* GAIT_ENGINE_H */
// EOF