ServoMotorData.h

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/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  alan.fischer@gmail.com                                  *
 * Andres Reinot  andres@reinot.com                                      *
 * Tyler Streeter  tylerstreeter@gmail.com                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library 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 files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_SERVO_MOTOR_DATA_H
#define OPAL_SERVO_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
        enum ServoMotorMode
        {
                DESIRED_ANGLE_MODE,

                DESIRED_VEL_MODE
        };

        class ServoMotorData : public MotorData
        {
        public:
                OPAL_DECL ServoMotorData()
                : MotorData()
                {
                        mType = SERVO_MOTOR;
                        joint = NULL;
                        internal_jointIndex = 0;
                        jointBlueprintRefName = "";
                        mode = DESIRED_ANGLE_MODE;
                        jointAxisNum = 0;
                        desiredAngle = 0;
                        desiredVel = 0;
                        maxTorque = defaults::motor::servo::maxTorque;
                        restoreSpeed = defaults::motor::servo::restoreSpeed;
                }

                OPAL_DECL ServoMotorData(const ServoMotorData& data)
                {
                        (*this) = data;
                }

                OPAL_DECL virtual ~ServoMotorData()
                {
                }

                OPAL_DECL virtual void OPAL_CALL operator=(const ServoMotorData& data)
                {
                        mType = data.mType;
                        enabled = data.enabled;
                        name = data.name;
                        joint = data.joint;
                        internal_jointIndex = data.internal_jointIndex;
                        jointBlueprintRefName = data.jointBlueprintRefName;
                        mode = data.mode;
                        jointAxisNum = data.jointAxisNum;
                        desiredAngle = data.desiredAngle;
                        desiredVel = data.desiredVel;
                        maxTorque = data.maxTorque;
                        restoreSpeed = data.restoreSpeed;
                }

                Joint* joint;

                int internal_jointIndex;

                std::string jointBlueprintRefName;

                ServoMotorMode mode;

                int jointAxisNum;

                real desiredAngle;

                real desiredVel;

                real maxTorque;

                real restoreSpeed;

        protected:

        private:
        };
}

#endif

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