CControllerMultiTask.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl 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.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl 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 General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file CControllerMultiTask.hpp
 *
 *  Created on: Jul 21, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CCONTROLLERTASK_HPP_
#define CCONTROLLERTASK_HPP_

#include <scl/control/CControllerBase.hpp>
#include <scl/control/task/data_structs/SControllerMultiTask.hpp>

#include <scl/control/task/CTaskBase.hpp>
#include <scl/control/task/CNonControlTaskBase.hpp>
#include <scl/control/task/CServo.hpp>

#include <sutil/CMappedMultiLevelList.hpp>

#include <string>
#include <vector>

namespace scl
{
  //Forward declare the dynamics API.
  class CDynamicsBase;

  class CControllerMultiTask : public CControllerBase
  {
  public:
    /**********************************************
     *               CControllerBase API
     * ********************************************/
    CControllerMultiTask();

    virtual ~CControllerMultiTask(){}

    virtual sBool computeControlForces();

    virtual sBool computeDynamics();

    virtual sBool computeNonControlOperations();

    virtual const Eigen::VectorXd* getControlForces()
    { return static_cast<const Eigen::VectorXd*>(&(data_->servo_.force_gc_));  }

    virtual sBool init(SControllerBase* arg_data,
            scl::CDynamicsBase* arg_dynamics);

    virtual sBool reset();


    /**********************************************
     *     Task-controller specific functions
     *     Use these for finer grained control!
     ***********************************************/
    bool addTask(const std::string &arg_task_name,
        CTaskBase* arg_task, const sUInt arg_level);

    bool removeTask(const std::string &arg_task_name);

    CTaskBase * getTask(const std::string& arg_name);

    sUInt getNumTasks() const { return data_->tasks_.size(); }

    sUInt getNumTasks(const std::string& arg_type) const;

    sBool activateTask(const std::string& arg_task_name);

    sBool deactivateTask(const std::string& arg_task_name);

    /**********************************************
     *     Non Control Task specific functions
     *     Use these for finer grained control!
     ***********************************************/
    bool addNonControlTask(const std::string &arg_task_name,
        CNonControlTaskBase* arg_task);

    bool removeNonControlTask(const std::string &arg_task_name);

    CNonControlTaskBase* getNonControlTask(const std::string& arg_name);

    sUInt getNumNonControlTasks() const { return tasks_non_ctrl_.size(); }

    sBool activateNonControlTask(const std::string& arg_type);

    sBool deactivateNonControlTask(const std::string& arg_type);

  protected:
    bool computeRangeSpaces();

    SControllerMultiTask * data_;

    CServo servo_;

    sutil::CMappedMultiLevelList<std::string, CTaskBase*> tasks_;

    sUInt task_count_;

    sutil::CMappedList<std::string, CNonControlTaskBase*> tasks_non_ctrl_;

    sUInt task_non_ctrl_count_;

  public:
    CTaskBase * active_task_;
  };

}

#endif /* CCONTROLLERTASK_HPP_ */