MTNAgent7.h

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00001 //
00002 // Copyright 2002,2004 Sony Corporation 
00003 //
00004 // Permission to use, copy, modify, and redistribute this software for
00005 // non-commercial use is hereby granted.
00006 //
00007 // This software is provided "as is" without warranty of any kind,
00008 // either expressed or implied, including but not limited to the
00009 // implied warranties of fitness for a particular purpose.
00010 //
00011 
00012 #ifndef MTNAgent7_h_DEFINED
00013 #define MTNAgent7_h_DEFINED
00014 
00015 #include <OPENR/ODataArchive.h>
00016 #include <MoNetData.h>
00017 #include "MoNetAgent.h"
00018 #include "MTN.h"
00019 
00020 class MTNAgent7 : public MoNetAgent {
00021 public:
00022     MTNAgent7();
00023     virtual ~MTNAgent7() {}
00024 
00025     virtual bool AreYou(MoNetAgentID agent);
00026     virtual void Init(ODA* oda);
00027     virtual void NotifyCommand(const MoNetAgentCommand& command,
00028                                MoNetAgentResult* result);
00029     virtual void ReadyEffector(const MoNetAgentCommand& command,
00030                                MoNetAgentResult* result);
00031     virtual void SetJointGain();
00032 
00033 private:
00034     static const word   TILT1_PGAIN = 0x000a;
00035     static const word   TILT1_IGAIN = 0x0004;
00036     static const word   TILT1_DGAIN = 0x0002;
00037 
00038     static const word   PAN_PGAIN   = 0x0008;
00039     static const word   PAN_IGAIN   = 0x0002;
00040     static const word   PAN_DGAIN   = 0x0004;
00041 
00042     static const word   TILT2_PGAIN = 0x0008;
00043     static const word   TILT2_IGAIN = 0x0004;
00044     static const word   TILT2_DGAIN = 0x0002;
00045 
00046     static const word   J1_PGAIN    = 0x0010;
00047     static const word   J1_IGAIN    = 0x0004;
00048     static const word   J1_DGAIN    = 0x0001;
00049 
00050     static const word   J2_PGAIN    = 0x000a;
00051     static const word   J2_IGAIN    = 0x0004;
00052     static const word   J2_DGAIN    = 0x0001;
00053 
00054     static const word   J3_PGAIN    = 0x0010;
00055     static const word   J3_IGAIN    = 0x0004;
00056     static const word   J3_DGAIN    = 0x0001;
00057 
00058     static const word   TAIL_PGAIN  = 0x000a;
00059     static const word   TAIL_IGAIN  = 0x0004;
00060     static const word   TAIL_DGAIN  = 0x0004;
00061 
00062     static const word   PSHIFT      = 0x000e;
00063     static const word   ISHIFT      = 0x0002;
00064     static const word   DSHIFT      = 0x000f;
00065 
00066     MoNetStatus SetPrimitiveID(OCommandVectorData* cmdVec, char* robotDesign);
00067     MoNetStatus Move(OVRSyncKey syncKey);
00068 
00069     ODA* motionODA;
00070     MTN  mtn;
00071 };
00072 
00073 #endif // MTNAgent7_h_DEFINED

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