add database for robot and trajectory information

lwrserv/Singleton.h

@@ -0,0 +1,9 @@
+class Singleton
+{
+   public:
+       Singleton* getInstance(void);
+       Singleton() {};
+       ~Singleton() {};
+   private:
+       static Singleton* single;
+};

lwrserv/SvrData.cpp

@@ -0,0 +1,58 @@
+#include "SvrData.h"
+bool SvrData::instanceFlag = false;
+SvrData* SvrData::single = 0;
+
+SvrData::SvrData(void)
+{
+    velocity = 20;
+    accelaration = 10;
+    robot.joints = LBR_MNJ;
+    
+    robot.max.velocity = new float[robot.joints];
+    robot.max.accelaration = new float[robot.joints];
+    robot.max.torque = new float[robot.joints];
+    robot.max.range = new float[robot.joints];
+
+    double maxVelJnt[] = {110.0,110.0,128.0,128.0,204.0,184.0,184.0};
+    double maxAccJnt[] = {1.0,1.0,1.0,1.0,2.0,1.0,1.0};
+    double maxTrqJnt[] = {176.0,176.0,100.0,100.0,100.0,38.0,38.0};
+    double maxRangeJnt[] = {170.0,120.0,170.0,120.0,170.0,120.0,170.0};
+
+
+    for (int i = 0; i < robot.joints; ++i)
+    {
+        robot.max.velocity[i] = maxVelJnt[i];
+        robot.max.accelaration[i] = maxAccJnt[i];
+        robot.max.torque[i] = maxTrqJnt[i];
+        robot.max.range[i] = maxRangeJnt[i];
+    }
+}
+SvrData::~SvrData()
+{
+    if (robot.max.velocity != 0)
+        delete[] robot.max.velocity;
+
+    if (robot.max.accelaration != 0)
+        delete[] robot.max.accelaration;
+
+    if (robot.max.torque != 0)
+        delete[] robot.max.torque;
+
+    if (robot.max.velocity != 0)
+        delete[] robot.max.range;
+
+    robot.max.velocity = 0;
+    robot.max.accelaration = 0;
+    robot.max.torque = 0;
+    robot.max.range = 0;
+}
+
+SvrData* SvrData::getInstance ()
+{
+    if (instanceFlag)
+        return single;
+
+    single = new SvrData();
+    instanceFlag = true;
+    return single;
+}

lwrserv/SvrData.h

@@ -0,0 +1,70 @@
+
+#ifndef _SVRDATA_H_
+#define _SVRDATA_H_
+
+#include <new>
+#include <iostream>
+#include <pthread.h>
+
+#include "Singleton.h"
+#include "friComm.h"
+
+
+class SvrData: public Singleton
+{
+private:
+    struct {
+        float jointPos[LBR_MNJ];
+        float cartPos[FRI_CART_FRM_DIM];
+        float jacobian[FRI_CART_VEC * LBR_MNJ];
+        float forceAndTorque[FRI_CART_VEC];
+    } messured;
+    struct {
+        float jointPos[LBR_MNJ];
+        float cartPos[FRI_CART_FRM_DIM];
+        float pose[3][4]; //TODO what is this for
+    } commanded;
+    
+    float velocity;
+    float accelaration;
+
+    struct {
+        struct {
+            float* velocity;
+            float* accelaration;
+            float* torque;
+            float* range;
+        } max;
+        unsigned int joints;
+    } robot;
+
+    pthread_mutex_t mutexsum;
+
+    /// private constructor, because the database is a singleton
+    SvrData();
+
+    static bool instanceFlag;
+    static SvrData* single;
+
+public:
+    ~SvrData(void);
+    SvrData* getInstance();
+
+    float getMaxTorque(unsigned int pos);
+    int   getMaxTorque(float* data, size_t size);
+
+    float getMaxAccelaration(unsigned int pos);
+    int   getMaxAccelaration(float* data, size_t size);
+
+    float getMaxRange(unsigned int pos);
+    int   getMaxRange(float* data, size_t size);
+
+    unsigned int getJoints();
+
+    float getTrajectoryVelocity();
+    int   setTrajectoryVelocity(float);
+
+    float getTrajectoryAccelaration();
+    float setTrajectoryAccelaration(float);
+};
+#endif