00001 /*! @file ArmControl/CtrlPolicy.H control policy for robot arm */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005 // 00005 // by the University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Chin-Kai Chang <chinkaic@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/ArmControl/CtrlPolicy.H $ 00035 // $Id: CtrlPolicy.H 10794 2009-02-08 06:21:09Z itti $ 00036 // 00037 #ifndef CtrlPolicy_H_DEFINED 00038 #define CtrlPolicy_H_DEFINED 00039 00040 class CtrlPolicy 00041 { 00042 00043 public: 00044 //! Constructor 00045 CtrlPolicy(); 00046 00047 //! Destructor 00048 // ~CtrlPolicy(); 00049 00050 void setCurrentPos(double pos); 00051 void setGoalPos(double pos); 00052 double getPos(const double y_actual); 00053 bool moveDone(); 00054 00055 private: 00056 double dt; 00057 double alpha_z; // transformation alpha 00058 double alpha_py; 00059 double beta_z; // transformation beta 00060 double y; // position 00061 double y_vel; // velocity 00062 double z; // transformation system 00063 double z_vel; // transformation system velocity 00064 double goal; 00065 //bool moveDone; 00066 //float alpha_x=8; // canonical alpha 00067 //float beta_x=0.5; // canonical beta 00068 //float x=0, x_0=0; //canonical system 00069 //float x_vel=0; // canonical system velocity 00070 //float x_acc=0; // canonical system acceleration 00071 }; 00072 00073 #endif 00074 00075 // ###################################################################### 00076 /* So things look consistent in everyone's emacs... */ 00077 /* Local Variables: */ 00078 /* indent-tabs-mode: nil */ 00079 /* End: */
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