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