dgm_solo_simple_simu.hpp

#ifndef DGM_QUADRUPED_HH
#define DGM_QUADRUPED_HH

#include <dynamic_graph_manager/dynamic_graph_manager.hh>

namespace dg_blmc_robots
{
  typedef Eigen::Matrix<double, 8, 1> Vector8d;

  typedef Eigen::Matrix<double, 8, 1> Vector4d;

  class DGMQuadrupedSimu : public dynamic_graph::DynamicGraphManager
  {
  public:
    DGMQuadrupedSimu();

    ~DGMQuadrupedSimu();

    bool is_in_safety_mode();

    void initialize_hardware_communication_process();

    void get_sensors_to_map(dynamic_graph::VectorDGMap& map);

    void set_motor_controls_from_map(const dynamic_graph::VectorDGMap& map);

  private:

    Vector8d motor_target_currents_;
    Vector8d motor_torques_;
    Vector8d motor_target_torques_;
    Vector8d motor_encoder_indexes_;
    
    Vector8d joint_positions_;
    Vector8d joint_velocities_;
    Vector8d joint_torques_;
    Vector8d joint_target_torques_;

    Vector4d contact_sensors_;
    Vector4d slider_positions_;

    Vector8d motor_enabled_;
    Vector8d motor_ready_;

    Vector4d motor_board_enabled_;
    Vector4d motor_board_errors_;
  
    Vector8d ctrl_joint_torques_;

    double motors_inertia_;
    double motors_torque_constant_;
    double motors_gear_ratio_;
  };


} // namespace dg_blmc_robots

#endif // DGM_TEST_BENCH_8_MOTORS_HH