utilBip.h

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/* Copyright (C) INRIA 1999-2005
** 
** This program is free software; you can redistribute it and/or modify it
** under the terms of the GNU General Public License version 2 as published
** by the Free Software Foundation.
** 
** This program is distributed in the hope that it will be useful, but
** WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
** Public License for more details.
** 
** You should have received a copy of the GNU General Public License along
** with this program; if not, write to the Free Software Foundation, Inc.,
** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
**
*/
#ifndef __utilbip_h
#define __utilbip_h

#ifdef WINDOWS
#define extern __declspec (dllexport)
#endif

/* Define and Macros               */
#define Pi                      3.14159265358979323846
#define RADTODEG(rad)           ((rad)*(180./Pi))
#define DEGTORAD(deg)           ((deg)*(Pi/180.))

#define ERROR  -1
#define OK     0

/* Name and index of each joints   */
#define   ArtCheD_F   0
#define   ArtCheD_S   1
#define   ArtGenD_S   2
#define   ArtHanD_S   3
#define   ArtCheG_F   4
#define   ArtCheG_S   5
#define   ArtGenG_S   6
#define   ArtHanG_S   7
#define   ArtHanD_F   8
#define   ArtHanD_V   9
#define   ArtHanG_F   10
#define   ArtHanG_V   11
#define   ArtLomb_V   12
#define   ArtLomb_F   13
#define   ArtLomb_S   14
#define   BIP_DDL     15

#define   MotCheD_E   0
#define   MotCheD_I   1
#define   MotGenD_S   2
#define   MotHanD_S   3
#define   MotCheG_I   4
#define   MotCheG_E   5
#define   MotGenG_S   6
#define   MotHanG_S   7
#define   MotHanD_F   8
#define   MotHanD_V   9
#define   MotHanG_F   10
#define   MotHanG_V   11
#define   MotLomb_V   12
#define   MotLomb_D   13
#define   MotLomb_G   14
#define   BIP_DOF     15

/* Name and index of each ratio   */
#define   RatCheD_FE  0
#define   RatCheD_SE  1
#define   RatGenD_S   2
#define   RatHanD_S   3
#define   RatCheG_FI  4
#define   RatCheG_SI  5
#define   RatGenG_S   6
#define   RatHanG_S   7
#define   RatHanD_F   8
#define   RatHanD_V   9
#define   RatHanG_F   10
#define   RatHanG_V   11
#define   RatLomb_V   12
#define   RatLomb_FD  13
#define   RatLomb_SD  14
#define   RatCheD_FI  15
#define   RatCheD_SI  16
#define   RatCheG_FE  17
#define   RatCheG_SE  18
#define   RatLomb_FG  19
#define   RatLomb_SG  20
#define   BIP_NUM_RATIO 21

/* Min and max of each joints (meme valeur a droite et a gauche)  */
#define   MinCheD_F   -0.24   /* -14 deg */
#define   MaxCheD_F    0.24   /* +14 deg */

#define   MinCheG_F   -0.24   /* -14 deg */
#define   MaxCheG_F    0.24   /* +14 deg */

#define   MinCheD_S   -0.68   /* -39 deg */
#define   MaxCheD_S    0.68   /* +39 deg */

#define   MinCheG_S   -0.68   /* -39 deg */
#define   MaxCheG_S    0.68   /* +39 deg */

#define   MinGenD_S    0.10   /* + 6 deg */
#define   MaxGenD_S    1.45   /* +83 deg */

#define   MinGenG_S    0.10   /* + 6 deg */
#define   MaxGenG_S    1.45   /* +83 deg */

#define   MinHanD_S   -1.20   /* -69 deg */
#define   MaxHanD_S    0.24   /*  14 deg */

#define   MinHanG_S   -1.20   /* -69 deg */
#define   MaxHanG_S    0.24   /*  14 deg */

#define   MinHanD_F   -0.19   /* -11 deg */
#define   MaxHanD_F    0.19   /* +11 deg */

#define   MinHanG_F   -0.19   /* -11 deg */
#define   MaxHanG_F    0.19   /* +11 deg */

#define   MinHanD_V   -0.19   /* -11 deg */
#define   MaxHanD_V    0.19   /* +11 deg */

#define   MinHanG_V   -0.19   /* -11 deg */
#define   MaxHanG_V    0.19   /* +11 deg */

#define   MinLomb_V   -0.21   /* -12 deg */
#define   MaxLomb_V    0.21   /* +12 deg */

#define   MinLomb_F   -0.09   /*  -5 deg */
#define   MaxLomb_F    0.09   /*  +5 deg */

#define   MinLomb_S   -0.24   /* -14 deg */
#define   MaxLomb_S    0.09   /*  +5 deg */

/*
 Bipede Articulation Mechanical min and max
 */
#define   MECH_MIN_ANKLE_FRON              -0.3490658504 /* -20.0 deg  */
#define   MECH_MAX_ANKLE_FRON               0.3490658504 /*  20.0 deg  */
#define   MECH_MIN_ANKLE_SAGI              -0.7853981635 /* -45.0 deg  */
#define   MECH_MAX_ANKLE_SAGI               0.7853981635 /*  45.0 deg  */
#define   MECH_MIN_KNEE                     0.0
#define   MECH_MAX_KNEE                     1.570796327  /*  90.0 deg */
#define   MECH_MIN_HIP_FLEX                -1.308996939  /* -75.0 deg */
#define   MECH_MAX_HIP_FLEX                 0.3490658504 /*  20.0 deg */
#define   MECH_MIN_HIP_SUBD                -0.2617993878 /* -15 deg   */
#define   MECH_MAX_HIP_SUBD                 0.2617993878 /*  15 deg   */
#define   MECH_MIN_HIP_VERT                -0.2617993878 /* -15 deg   */
#define   MECH_MAX_HIP_VERT                 0.2617993878 /*  15 deg   */
#define   MECH_MIN_TRUNC_VERT              -0.2617993878 /* -15 deg   */
#define   MECH_MAX_TRUNC_VERT               0.2617993878 /*  15 deg   */
#define   MECH_MIN_TRUNC_FRON              -0.17453293   /* -10.0 deg */
#define   MECH_MAX_TRUNC_FRON               0.17453293   /*  10.0 deg */
#define   MECH_MIN_TRUNC_SAGI               -0.3490658504/* -20.0 deg */
#define   MECH_MAX_TRUNC_SAGI                0.17453293  /*  10.0 deg */


/*
 Prototypes of the procedures
*/



extern int bipUtilCalcPosRatio(double th[BIP_DDL], double q[BIP_DDL], double ratio[BIP_NUM_RATIO]);

extern int bipUtilCalcPos(double th[BIP_DDL], double q[BIP_DDL]);

extern int bipUtilCalcRatio(double th[BIP_DDL], double ratio[BIP_NUM_RATIO]);

extern int bipUtilCalcMotors(double q[BIP_DDL], double th[BIP_DDL]);


#endif

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