Tools/Actorics/WalkAccelerationRestrictor.h

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/**
* @file WalkAccelerationRestrictor.h
*
* Definition of class WalkAccelerationRestrictor
*
* @author Martin Lötzsch
*/

#ifndef __WalkAccelerationRestrictor_h_
#define __WalkAccelerationRestrictor_h_

#include "Representations/Motion/MotionRequest.h"

/**
* @class WalkAccelerationRestrictor
*
* Provides functionality for restriction changes in walk speed to maximum values.
*
* @author Martin Lötzsch
*/
class WalkAccelerationRestrictor
{
public:
/**
* Constructor
* @param motionRequest A reference to the motion request that shall be smoothed
  */
  WalkAccelerationRestrictor(MotionRequest& motionRequest);
  
  /** 
  * Smoothes a walk motion. Changes in speed are clipped to a maximum acceleration.
  * Execute that function at the end of the execution of a basic behavior. 
  * @param maxTranslationXAcceleration maximum x translation acceleration (in mm/s^2)
  * @param maxTranslationYAcceleration maximum y translation acceleration (in mm/s^2)
  * @param maxRotationAcceleration maximum rotation acceleration (in Deg/s^2)
  */
  void restrictAccelerations(double maxTranslationXAcceleration, 
    double maxTranslationYAcceleration, 
    double maxRotationAcceleration);
  
    /** 
    * Saves the walk parameters of the last motion request. Should be used at the start
    * of the execution of a skill. 
  */
  void saveLastWalkParameters();
  
protected:
  /** The time when the skill was executed last, used by smoothWalk */
  unsigned long timeOfLastExecution;
  
  /** x translation of the last motion request, used by smoothWalk */
  double lastTranslationX;
  
  /** y translation of the last motion request, used by smoothWalk */
  double lastTranslationY;
  
  /** rotation of the last motion request, used by smoothWalk */
  double lastRotation;
  
  /** A reference to the motion request */
  MotionRequest& mr;
};


#endif //__WalkAccelerationRestrictor_h_

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