humanoid_control_functions.h

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#ifndef __HUMANOID_CONTROL_FUNCTIONS_H_
#define __HUMANOID_CONTROL_FUNCTIONS_H_

#include <phua_haptic/humanoid_functions.h>
#include <phua_haptic/miscellaneous.h>
#include <phua_haptic/types.h>

#include <Eigen/Dense>
#include <armadillo>

#define PATH_FOLLOWING_POSITION_ERROR 1 //double

/*~~~~~~~~~~~~~~~~~~~~~~~~~~~   
||  shared data definition  ||
~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/

short unsigned int ConvertJointAngleByID(int id, double angle_position);

double ConvertServoValueByID(int id, short unsigned int servo_value);

void SetRobotHomePosition(shared_vars_t*RobotVars);

void UpdateArmsDirKinData(shared_vars_t*RobotVars);

void UpdateDetachedLegsDirKinData(shared_vars_t*RobotVars);

void SetArmSpeed(short int SIDE, short int speed, shared_vars_t*RobotVars);

void SetLegSpeed(short int SIDE, short int speed, shared_vars_t*RobotVars);

void MoveArmToCartesianPosition(double X, double Y, double Z, short int SIDE, shared_vars_t*RobotVars);

void MoveDetachedLegToCartesianPosition(double X, double Y, double Z, double t4, short int SIDE, shared_vars_t*RobotVars);

void UpdateJointDataByID(short int id, double joint_angle, shared_vars_t*RobotVars);

void SetArmAutomaticSpeeds(short int SIDE, shared_vars_t*RobotVars);

void CalculateDifferencialArmServoSpeed(double *avg_speed, shared_vars_t*RobotVars);

void StopRobotMovement(shared_vars_t*RobotVars);

void ArmsDifferencialSpeedControl(double *avg_speed, shared_vars_t*RobotVars);

void DemoUserPath_WritePoints(shared_vars_t*RobotVars);

void DemoUserPath_ReadPoints(shared_vars_t*RobotVars);

void PathFollowingExecute(shared_vars_t*RobotVars);

void UpdateKinematicModelDirKin(shared_vars_t*RobotVars);

#endif