TypedefAndEnums.h

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/*
 * Copyright (C) 2016 IIT-ADVR
 * Author: Arturo Laurenzi, Luca Muratore
 * email:  arturo.laurenzi@iit.it, luca.muratore@iit.it
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * 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 Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>
*/
 
#ifndef __XBOT_ENUM__
#define __XBOT_ENUM__
 
#include <map>
#include <unordered_map>
#include <string>
#include <memory>
#include <boost/any.hpp>
#include <eigen3/Eigen/Dense>
 
namespace XBot{
 
    class ImuSensor;
    class ForceTorqueSensor;
 
 
    // TYPEDEF  //
 
    typedef std::unordered_map<int, double> JointIdMap;
 
    typedef std::unordered_map<std::string, double> JointNameMap;
 
    typedef std::map<std::string, std::shared_ptr<const ForceTorqueSensor> > ForceTorqueMap;
 
    typedef std::map<std::string, std::shared_ptr<const ImuSensor> > ImuMap;
 
    typedef std::map<std::string, boost::any> AnyMap;
 
    typedef std::shared_ptr<AnyMap> AnyMapPtr;
 
    typedef std::shared_ptr<const AnyMap> AnyMapConstPtr;
 
    // ENUM //
 
    enum class Sync {
 
        Position ,
        Velocity,
        Effort,
        Acceleration,
        Impedance,
        Stiffness,
        Damping,
        All ,
        Sensors,
        Imu,
        ForceTorque,
        MotorSide
 
    };
 
}
 
namespace Eigen {
    
    typedef Eigen::Matrix<double, 6, 1> Vector6d;
    
    typedef Eigen::Matrix<double, 6, 6> Matrix6d;
}
 
#endif