Diff: SafeCheck.h

Revision:

0:843c9f29adde

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SafeCheck.h	Mon Oct 04 13:34:22 2021 +0000
@@ -0,0 +1,41 @@
+#ifndef SAFE_CHECK_H
+#define SAFE_CHECK_H
+
+#include "mbed.h"
+#include <Eigen/Dense.h>
+#include "ARAP180_with_rover.h"
+
+using namespace Eigen;
+
+class SafeCheck
+{
+public:
+
+    enum checkMode {
+        JOINT_MODE,
+        CARTESIAN_MODE,
+    };
+    
+    SafeCheck(ARAP180_WITH_ROVER *_arm, VectorXf _maxJointPos,VectorXf _minJointPos, VectorXf _maxJointVel, VectorXf _maxJointAcc, Vector3f _maxCartPos, Vector3f _minCartPos);
+    void setSafeCheckParameters(VectorXf _maxJointPos,VectorXf _minJointPos, VectorXf _maxJointVel, VectorXf _maxJointAcc, Vector3f _maxCartPos, Vector3f _minCartPos);
+    void initSafeCheck();
+    bool check(VectorXf q, VectorXf dq, VectorXf ddq, checkMode mode);
+    
+
+   
+
+private:
+    ARAP180_WITH_ROVER *arm;
+
+    VectorXf maxJointPos;
+    VectorXf minJointPos;
+    VectorXf maxJointVel;
+    VectorXf maxJointAcc;
+    Vector3f maxCartPos;
+    Vector3f minCartPos;
+    
+    bool isSafe;
+
+};
+
+#endif