robot_control.h

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//                                                                                   //
//  Copyright (c) 2016-2025 Leonardo Consoni <leonardojc@protonmail.com>             //
//                                                                                   //
//  This file is part of Robot Control Interface.                                    //
//                                                                                   //
//  Robot Control Interface is free software: you can redistribute it and/or modify  //
//  it under the terms of the GNU Lesser General Public License as published         //
//  by the Free Software Foundation, either version 3 of the License, or             //
//  (at your option) any later version.                                              //
//                                                                                   //
//  Robot Control Interface 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                     //
//  GNU Lesser General Public License for more details.                              //
//                                                                                   //
//  You should have received a copy of the GNU Lesser General Public License         //
//  along with Robot Control Interface. If not, see <http://www.gnu.org/licenses/>.  //
//                                                                                   //
 
 
 
#ifndef ROBOT_CONTROL_H
#define ROBOT_CONTROL_H
 
#include <math.h>
#ifndef M_PI
#define M_PI 3.14159      
#endif
 
#include "plugin_loader/loader_macros.h"
 
enum ControlState 
{ 
  CONTROL_PASSIVE,            
  CONTROL_OFFSET,             
  CONTROL_CALIBRATION,        
  CONTROL_PREPROCESSING,      
  CONTROL_OPERATION,          
  CONTROL_STATES_NUMBER       
};
 
typedef struct DoFVariables
{
  double position, velocity, force, acceleration, inertia, stiffness, damping;
}
DoFVariables;
 
#define ROBOT_CONTROL_INTERFACE( Interface, INIT_FUNCTION ) \
        INIT_FUNCTION( bool, Interface, InitController, const char* ) \
        INIT_FUNCTION( void, Interface, EndController, void ) \
        INIT_FUNCTION( size_t, Interface, GetJointsNumber, void ) \
        INIT_FUNCTION( const char**, Interface, GetJointNamesList, void ) \
        INIT_FUNCTION( size_t, Interface, GetAxesNumber, void ) \
        INIT_FUNCTION( const char**, Interface, GetAxisNamesList, void ) \
        INIT_FUNCTION( void, Interface, SetControlState, enum ControlState ) \
        INIT_FUNCTION( void, Interface, RunControlStep, DoFVariables**, DoFVariables**, DoFVariables**, DoFVariables**, double ) \
        INIT_FUNCTION( size_t, Interface, GetExtraInputsNumber, void ) \
        INIT_FUNCTION( void, Interface, SetExtraInputsList, double* ) \
        INIT_FUNCTION( size_t, Interface, GetExtraOutputsNumber, void ) \
        INIT_FUNCTION( void, Interface, GetExtraOutputsList, double* )
        
#endif  // ROBOT_CONTROL_H