safety.hpp

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#ifndef FLEXIV_RDK_SAFETY_HPP_
#define FLEXIV_RDK_SAFETY_HPP_
 
#include "robot.hpp"
 
namespace flexiv::rdk {
 
constexpr size_t kSafetyIOPorts = 8;
 
struct SafetyLimits
{
    std::map<JointGroup, std::vector<double>> q_min = {};
 
    std::map<JointGroup, std::vector<double>> q_max = {};
 
    std::map<JointGroup, std::vector<double>> dq_max_normal = {};
 
    std::map<JointGroup, std::vector<double>> dq_max_reduced = {};
};
 
class Safety
{
public:
    Safety(const Robot& robot, const std::string& password);
    virtual ~Safety();
 
    SafetyLimits default_limits() const;
 
    SafetyLimits current_limits() const;
 
    std::array<bool, kSafetyIOPorts> safety_inputs() const;
 
    void SetJointPositionLimits(JointGroup group, const std::vector<double>& min_positions,
        const std::vector<double>& max_positions);
 
    void SetJointVelocityNormalLimits(JointGroup group, const std::vector<double>& max_velocities);
 
    void SetJointVelocityReducedLimits(JointGroup group, const std::vector<double>& max_velocities);
 
    void SetJointOutputTorqueRegulator(
        double limiting_factor = 1.3, unsigned int error_threshold = 50);
 
private:
    class Impl;
    std::unique_ptr<Impl> pimpl_;
};
 
} /* namespace flexiv::rdk */
 
#endif /* FLEXIV_RDK_SAFETY_HPP_ */