diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1c99f00d7dcc5423fb969bdb96da0d03db38be9e..0ff4eda98dfb789c8d836fb1d9eb6e603682bb40 100755
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,7 +1,4 @@
ADD_SUBDIRECTORY(fw_downloader)
-ADD_SUBDIRECTORY(robotis_mtn)
+ADD_SUBDIRECTORY(mtn_downloader)
-ADD_SUBDIRECTORY(robotis_mtn_file)
-
-ADD_SUBDIRECTORY(robotis_bin_file)
diff --git a/src/Findrobotis_bin_parser.cmake b/src/Findrobotis_bin_parser.cmake
deleted file mode 100644
index 4d7a26d7e8327bd98dc1440b13d3724657287efd..0000000000000000000000000000000000000000
--- a/src/Findrobotis_bin_parser.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(robotis_bin_parser_INCLUDE_DIR robotis_bin_parser.h /usr/include/iridrivers /usr/local/include/iridrivers)
-
-FIND_LIBRARY(robotis_bin_parser_LIBRARY
- NAMES robotis_bin_parser
- PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
-
-IF (robotis_bin_parser_INCLUDE_DIR AND robotis_bin_parser_LIBRARY)
- SET(robotis_bin_parser_FOUND TRUE)
-ENDIF (robotis_bin_parser_INCLUDE_DIR AND robotis_bin_parser_LIBRARY)
-
-IF (robotis_bin_parser_FOUND)
- IF (NOT robotis_bin_parser_FIND_QUIETLY)
- MESSAGE(STATUS "Found robotis_bin_parser: ${robotis_bin_parser_LIBRARY}")
- ENDIF (NOT robotis_bin_parser_FIND_QUIETLY)
-ELSE (robotis_bin_parser_FOUND)
- IF (robotis_bin_parser_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find robotis_bin_parser")
- ENDIF (robotis_bin_parser_FIND_REQUIRED)
-ENDIF (robotis_bin_parser_FOUND)
-
diff --git a/src/Findrobotis_mtn.cmake b/src/Findrobotis_mtn.cmake
deleted file mode 100644
index f17d2b21f65615535ff1f553ac9f1bfd81162df0..0000000000000000000000000000000000000000
--- a/src/Findrobotis_mtn.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(robotis_mtn_INCLUDE_DIR robotis_mtn.h robotis_page.h robotis_step.h /usr/include/iridrivers /usr/local/include/iridrivers)
-
-FIND_LIBRARY(robotis_mtn_LIBRARY
- NAMES robotis_mtn
- PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
-
-IF (robotis_mtn_INCLUDE_DIR AND robotis_mtn_LIBRARY)
- SET(robotis_mtn_FOUND TRUE)
-ENDIF (robotis_mtn_INCLUDE_DIR AND robotis_mtn_LIBRARY)
-
-IF (robotis_mtn_FOUND)
- IF (NOT robotis_mtn_FIND_QUIETLY)
- MESSAGE(STATUS "Found robotis_mtn: ${robotis_mtn_LIBRARY}")
- ENDIF (NOT robotis_mtn_FIND_QUIETLY)
-ELSE (robotis_mtn_FOUND)
- IF (robotis_mtn_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find robotis_mtn")
- ENDIF (robotis_mtn_FIND_REQUIRED)
-ENDIF (robotis_mtn_FOUND)
-
diff --git a/src/Findrobotis_mtn_parser.cmake b/src/Findrobotis_mtn_parser.cmake
deleted file mode 100644
index 8554fd654b95f40777fc6836f1c9620e733d4dfd..0000000000000000000000000000000000000000
--- a/src/Findrobotis_mtn_parser.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(robotis_mtn_parser_INCLUDE_DIR mtn_file_parser.hpp mtn_file_scanner.hpp /usr/include/iridrivers /usr/local/include/iridrivers)
-
-FIND_LIBRARY(robotis_mtn_parser_LIBRARY
- NAMES robotis_mtn_parser
- PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
-
-IF (robotis_mtn_parser_INCLUDE_DIR AND robotis_mtn_parser_LIBRARY)
- SET(robotis_mtn_parser_FOUND TRUE)
-ENDIF (robotis_mtn_parser_INCLUDE_DIR AND robotis_mtn_parser_LIBRARY)
-
-IF (robotis_mtn_parser_FOUND)
- IF (NOT robotis_mtn_parser_FIND_QUIETLY)
- MESSAGE(STATUS "Found robotis_mtn_parser: ${robotis_mtn_parser_LIBRARY}")
- ENDIF (NOT robotis_mtn_parser_FIND_QUIETLY)
-ELSE (robotis_mtn_parser_FOUND)
- IF (robotis_mtn_parser_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find robotis_mtn_parser")
- ENDIF (robotis_mtn_parser_FIND_REQUIRED)
-ENDIF (robotis_mtn_parser_FOUND)
-
diff --git a/src/robotis_bin_file/CMakeLists.txt b/src/robotis_bin_file/CMakeLists.txt
deleted file mode 100644
index f17c70412587bf76b55be120ef7959949b149d3d..0000000000000000000000000000000000000000
--- a/src/robotis_bin_file/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-# driver source files
-SET(sources robotis_bin_parser.cpp)
-# application header files
-SET(headers robotis_bin_parser.h)
-# locate the necessary dependencies
-
-# add the necessary include directories
-INCLUDE_DIRECTORIES(.)
-include_directories(../robotis_mtn)
-
-# create the shared library
-ADD_LIBRARY(robotis_bin_parser SHARED ${sources})
-
-target_link_libraries(robotis_bin_parser robotis_mtn)
-
-# link necessary libraries
-INSTALL(TARGETS robotis_bin_parser
- RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
-INSTALL(FILES ${headers} DESTINATION include)
-INSTALL(FILES ../Findrobotis_bin_parser.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-ADD_SUBDIRECTORY(examples)
diff --git a/src/robotis_bin_file/examples/CMakeLists.txt b/src/robotis_bin_file/examples/CMakeLists.txt
deleted file mode 100644
index 592f2554e4d9e281199bdcadff81b733ae017e48..0000000000000000000000000000000000000000
--- a/src/robotis_bin_file/examples/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-# create an example application
-ADD_EXECUTABLE(robotis_bin_file_test robotis_bin_file_test.cpp)
-# link necessary libraries
-TARGET_LINK_LIBRARIES(robotis_bin_file_test robotis_bin_parser)
diff --git a/src/robotis_bin_file/examples/robotis_bin_file_test.cpp b/src/robotis_bin_file/examples/robotis_bin_file_test.cpp
deleted file mode 100644
index e4e2eeab37d04bf7e7572e63698f07d8f670be6e..0000000000000000000000000000000000000000
--- a/src/robotis_bin_file/examples/robotis_bin_file_test.cpp
+++ /dev/null
@@ -1,63 +0,0 @@
-#include <iostream>
-#include <cstdlib>
-#include <string.h>
-
-#include "robotis_bin_parser.h"
-#include "mtn_exceptions.h"
-
-int main(int argc, char *argv[])
-{
- std::vector<unsigned short int> angles;
- CBinFileParser mtn_parser;
- unsigned int i=0,j=0,k=0;
- CRobotisMtn motions;
- CRobotisPage page;
- CRobotisStep step;
-
- if(argc!=2)
- {
- std::cout << "A motion file must be provided (.bin)" << std::endl;
- return (EXIT_FAILURE);
- }
- else
- {
- if(strstr(argv[1],".bin")!=NULL)
- {
- try{
- mtn_parser.parse(argv[1]);
- mtn_parser.get_motions(motions);
- }catch(CMtnException &e){
- std::cout << e.what() << std::endl;
- }
- }
- else
- {
- std::cout << "Invalid file format. Supported format is .bin" << std::endl;
- return (EXIT_FAILURE);
- }
- }
- /* show motion pages */
- std::cout << "Num. pages: " << motions.get_num_pages() << std::endl;
- for(i=0;i<motions.get_num_pages();i++)
- {
- page=motions.get_page(i);
- std::cout << "name: " << page.get_name() << std::endl;
- std::cout << "next page: " << page.get_next_page() << std::endl;
- std::cout << "exit page: " << page.get_exit_page() << std::endl;
- std::cout << "repetitions: " << page.get_repetitions() << std::endl;
- std::cout << "speed rate: " << page.get_speed_rate() << std::endl;
- std::cout << "inertial force: " << page.get_inertial() << std::endl;
- std::cout << "Num. steps: " << page.get_num_steps() << std::endl;
- for(j=0;j<page.get_num_steps();j++)
- {
- step=page.get_step(j);
- std::cout << "angles: ";
- angles=step.get_angles();
- for(k=0;k<angles.size();k++)
- std::cout << angles[k] << ",";
- std::cout << std::endl;
- std::cout << "pausetime: " << step.get_pause_time() << std::endl;
- std::cout << "step time: " << step.get_step_time() << std::endl;
- }
- }
-}
diff --git a/src/robotis_bin_file/robotis_bin_parser.cpp b/src/robotis_bin_file/robotis_bin_parser.cpp
deleted file mode 100644
index e86a0a836616d1dc8c836fe9146fe1c2ea7b7667..0000000000000000000000000000000000000000
--- a/src/robotis_bin_file/robotis_bin_parser.cpp
+++ /dev/null
@@ -1,124 +0,0 @@
-#include "robotis_bin_parser.h"
-#include "mtn_exceptions.h"
-#include <fstream>
-#include <string.h>
-#include <iostream>
-#include <stdlib.h>
-
-CBinFileParser::CBinFileParser()
-{
- memset(this->pages,0x00,sizeof(this->pages));
-}
-
-unsigned char CBinFileParser::generate_checksum(TPage *page)
-{
- unsigned char checksum=0x00;
- unsigned int i=0;
-
- page->header.checksum=0x00;
- for(i=0;i<sizeof(TPage);i++)
- checksum+=((char *)page)[i];
-
- return checksum;
-}
-
-bool CBinFileParser::check_checksum(TPage *page)
-{
- unsigned char checksum=0x00;
- unsigned int i=0;
-
- for(i=0;i<sizeof(TPage);i++)
- checksum+=((char *)page)[i];
- if(checksum==0xFF)
- return true;
- else
- return false;
-}
-
-void CBinFileParser::parse(const char *filename)
-{
- std::vector<unsigned short int> angles;
- std::vector<unsigned char> cw_compliance;
- std::vector<unsigned char> ccw_compliance;
- std::ifstream in_file(filename);
- int length=0,i=0,j=0,k=0;
- CRobotisPage page;
- CRobotisStep step;
-
- if(!in_file.good())
- {
- std::cout << " File << " << filename << " not found" << std::endl;
- exit(EXIT_FAILURE);
- }
- in_file.seekg (0, in_file.end);
- length = in_file.tellg();
- in_file.seekg (0, in_file.beg);
- if(length!=sizeof(this->pages))
- {
- std::cout << "Invalid binary motion file" << std::endl;
- exit(EXIT_FAILURE);
- }
- in_file.read((char *)this->pages,length);
- in_file.close();
- // initialize the CMtnFile class
- this->motions.set_type(std::string("motion"));
- this->motions.set_version(1.0);
- this->motions.set_num_servos(PAGE_MAX_NUM_SERVOS);
- for(i=0;i<MAX_NUM_PAGES;i++)
- {
- page.clear();
- page.set_num_servos(PAGE_MAX_NUM_SERVOS);
- page.set_name(std::string(this->pages[i].header.name));
- cw_compliance.resize(PAGE_MAX_NUM_SERVOS);
- ccw_compliance.resize(PAGE_MAX_NUM_SERVOS);
- for(j=0;j<PAGE_MAX_NUM_SERVOS;j++)
- {
- cw_compliance[j]=(this->pages[i].header.slope[j]>>4);
- ccw_compliance[j]=(this->pages[i].header.slope[j]&0x0F);
- }
- page.set_cw_compliances(cw_compliance);
- page.set_ccw_compliances(ccw_compliance);
- page.set_next_page(this->pages[i].header.next);
- page.set_exit_page(this->pages[i].header.exit);
- page.set_repetitions(this->pages[i].header.repeat);
- page.set_speed_rate(this->pages[i].header.speed/32.0);
- page.set_inertial(this->pages[i].header.accel);
- for(j=0;j<this->pages[i].header.stepnum;j++)
- {
- step.clear();
- step.set_num_servos(PAGE_MAX_NUM_SERVOS);
- step.set_pause_time(this->pages[i].steps[j].pause*0.0078);
- step.set_step_time(this->pages[i].steps[j].time*0.0078);
- angles.resize(PAGE_MAX_NUM_SERVOS);
- for(k=0;k<PAGE_MAX_NUM_SERVOS;k++)
- angles[k]=this->pages[i].steps[j].position[k];
- step.set_angles(angles);
- page.add_step(step);
- }
- this->motions.add_page(page);
- if(!this->check_checksum(&this->pages[i]))
- std::cout << "Page with invalid checksum" << std::endl;
- }
-}
-
-void CBinFileParser::serialize(const char *filename)
-{
-
-}
-
-void CBinFileParser::get_motions(CRobotisMtn &motions)
-{
- motions.clear();
- motions=this->motions;
-}
-
-void CBinFileParser::set_motions(CRobotisMtn &motions)
-{
- this->motions.clear();
- this->motions=motions;
-}
-
-CBinFileParser::~CBinFileParser()
-{
- memset(this->pages,0x00,sizeof(this->pages));
-}
diff --git a/src/robotis_bin_file/robotis_bin_parser.h b/src/robotis_bin_file/robotis_bin_parser.h
deleted file mode 100644
index 2e8c86f1b7138c80ee36a69849b29998b09d4888..0000000000000000000000000000000000000000
--- a/src/robotis_bin_file/robotis_bin_parser.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef _BIN_FILE_PARSER_H
-#define _BIN_FILE_PARSER_H
-
-#include "robotis_mtn.h"
-
-#define MAX_NUM_PAGES 256
-#define PAGE_MAX_NUM_SERVOS 31
-#define POSE_NUMBER_OF_POSES_PER_PAGE 7
-
-typedef struct // Header Structure (total 64unsigned char)
-{
- char name[14]; // Name 0~13
- unsigned char reserved1; // Reserved1 14
- unsigned char repeat; // Repeat count 15
- unsigned char schedule; // schedule 16
- unsigned char reserved2[3]; // reserved2 17~19
- unsigned char stepnum; // Number of step 20
- unsigned char reserved3; // reserved3 21
- unsigned char speed; // Speed 22
- unsigned char reserved4; // reserved4 23
- unsigned char accel; // Acceleration time 24
- unsigned char next; // Link to next 25
- unsigned char exit; // Link to exit 26
- unsigned char reserved5[4]; // reserved5 27~30
- unsigned char checksum; // checksum 31
- unsigned char slope[PAGE_MAX_NUM_SERVOS]; // CW/CCW compliance slope 32~62
- unsigned char reserved6; // reserved6 63
-} TPageHeader;
-
-typedef struct // Step Structure (total 64unsigned char)
-{
- unsigned short int position[PAGE_MAX_NUM_SERVOS]; // Joint position 0~61
- unsigned char pause; // Pause time 62
- unsigned char time; // Time 63
-} TStep;
-
-typedef struct // Page Structure (total 512unsigned char)
-{
- TPageHeader header; // Page header 0~64
- TStep steps[POSE_NUMBER_OF_POSES_PER_PAGE]; // Page step 65~511
-} TPage;
-
-class CBinFileParser
-{
- private:
- CRobotisMtn motions;
- TPage pages[MAX_NUM_PAGES];
- unsigned char generate_checksum(TPage *page);
- bool check_checksum(TPage *page);
- public:
- CBinFileParser();
- void parse(const char *filename);
- void serialize(const char *filename);
- void get_motions(CRobotisMtn &motions);
- void set_motions(CRobotisMtn &motions);
- ~CBinFileParser();
-};
-
-#endif
diff --git a/src/robotis_mtn/CMakeLists.txt b/src/robotis_mtn/CMakeLists.txt
deleted file mode 100644
index 1f56b74a06ec0c5fa593dfd4e4b0313d472737f9..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-# driver source files
-SET(sources robotis_mtn.cpp robotis_page.cpp robotis_step.cpp mtn_exceptions.cpp)
-# application header files
-SET(headers robotis_mtn.h robotis_page.h robotis_step.h mtn_exceptions.h)
-# locate the necessary dependencies
-# add the necessary include directories
-INCLUDE_DIRECTORIES(.)
-# create the shared library
-ADD_LIBRARY(robotis_mtn SHARED ${sources})
-# link necessary libraries
-INSTALL(TARGETS robotis_mtn
- RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
-INSTALL(FILES ${headers} DESTINATION include)
-INSTALL(FILES ../Findrobotis_mtn.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-ADD_SUBDIRECTORY(examples)
diff --git a/src/robotis_mtn/examples/CMakeLists.txt b/src/robotis_mtn/examples/CMakeLists.txt
deleted file mode 100644
index e0c2cfec0f403f880b1f2b99d08ca0a575741056..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/examples/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-# create an example application
-ADD_EXECUTABLE(robotis_mtn_test robotis_mtn_test.cpp)
-# link necessary libraries
-TARGET_LINK_LIBRARIES(robotis_mtn_test robotis_mtn)
diff --git a/src/robotis_mtn/examples/robotis_mtn_test.cpp b/src/robotis_mtn/examples/robotis_mtn_test.cpp
deleted file mode 100644
index f5e42eb34a3ab45292d2de25c61ce3857202f6c7..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/examples/robotis_mtn_test.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "robotis_mtn.h"
-
-int main(int argc, char *argv[])
-{
-}
diff --git a/src/robotis_mtn/mtn_exceptions.cpp b/src/robotis_mtn/mtn_exceptions.cpp
deleted file mode 100644
index 34720cd019d5ed036a7f07407896b03fa706f41d..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/mtn_exceptions.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "mtn_exceptions.h"
-#include <string.h>
-#include <stdio.h>
-
-const std::string mtn_exception_msg="[Motion Exception caught] - ";
-
-CMtnException::CMtnException(const std::string& where, const std::string& error_msg)
-{
- this->error_msg=mtn_exception_msg;
- this->error_msg+=where;
- this->error_msg+="\nError: ";
- this->error_msg+=error_msg;
-}
-
-const std::string& CMtnException::what(void)
-{
- return this->error_msg;
-}
-
-CMtnException::~CMtnException() throw()
-{
- /* the error message is destroyed by its own destructor */
-}
diff --git a/src/robotis_mtn/mtn_exceptions.h b/src/robotis_mtn/mtn_exceptions.h
deleted file mode 100644
index 3ecc0a3788b562a71d5535a2cf451e48d1758b85..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/mtn_exceptions.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef _MTN_EXCEPTIONS_H
-#define _MTN_EXCEPTIONS_H
-
-#include <exception>
-#include <sstream>
-#include <string>
-
-template <typename T_>
-inline std::string tostring (const T_ & src)
-{
- std::ostringstream out;
-
- out << src;
- return out.str();
-}
-
-#define _HERE_ (std::string(__PRETTY_FUNCTION__) + " at " + \
- std::string(__FILE__) + ":" +tostring(__LINE__))
-
-class CMtnException : public std::exception
-{
- protected:
- std::string error_msg;
- public:
- CMtnException(const std::string& where, const std::string& error_msg);
- virtual const std::string& what(void);
- virtual ~CMtnException() throw();
-};
-
-#endif
diff --git a/src/robotis_mtn/robotis_mtn.cpp b/src/robotis_mtn/robotis_mtn.cpp
deleted file mode 100644
index a4e5271ba313c6b925f24e5148149cdb82526fae..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_mtn.cpp
+++ /dev/null
@@ -1,388 +0,0 @@
-#include "robotis_mtn.h"
-#include "mtn_exceptions.h"
-
-CRobotisMtn::CRobotisMtn()
-{
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->pages.clear();
- this->info.clear();
- this->num_servos=0;
-}
-
-CRobotisMtn::CRobotisMtn(CRobotisMtn &mtn)
-{
- unsigned int i=0;
-
- this->type=mtn.type;
- this->version=mtn.version;
- this->enable.clear();
- for(i=0;i<mtn.get_num_servos();i++)
- this->enable.push_back(mtn.enable.at(i));
- this->info.clear();
- for(i=0;i<mtn.get_num_servos();i++)
- this->info.push_back(mtn.info[i]);
- this->pages.clear();
- for(i=0;i<mtn.pages.size();i++)
- this->pages.push_back(mtn.pages[i]);
- this->num_servos=mtn.get_num_servos();
-}
-
-void CRobotisMtn::set_type(const std::string &type)
-{
- this->type=type;
-}
-
-void CRobotisMtn::set_version(double version)
-{
- this->version=version;
-}
-
-void CRobotisMtn::set_num_servos(unsigned int num_servos)
-{
- this->enable.resize(num_servos);
- this->info.resize(num_servos);
- this->num_servos=num_servos;
-}
-
-void CRobotisMtn::set_enable(unsigned int servo,bool enable)
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- this->enable[servo]=enable;
-}
-
-void CRobotisMtn::set_enables(std::vector<bool> &enables)
-{
- unsigned int i=0;
-
- if(this->get_num_servos()!=enables.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid enable vector size");
- }
- else
- for(i=0;i<this->get_num_servos();i++)
- this->enable[i]=enables[i];
-}
-
-void CRobotisMtn::set_motor_type(unsigned int servo, int motor_type)
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- {
- switch(motor_type)
- {
- case SERVO_AX12A: this->info[servo].encoder_resolution=1024;
- this->info[servo].max_angle=300;
- this->info[servo].center_angle=150;
- this->info[servo].max_speed=354;
- this->info[servo].model=SERVO_AX12A;
- this->info[servo].model_string="AX-12A";
- break;
- case SERVO_AX12W: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=3000;
- this->info[servo].center_angle=1500;
- this->info[servo].max_speed=2830;
- this->info[servo].model=SERVO_AX12W;
- this->info[servo].model_string="AX-12W";
- break;
- case SERVO_AX18A: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=3000;
- this->info[servo].center_angle=1500;
- this->info[servo].max_speed=582;
- this->info[servo].model=SERVO_AX18A;
- this->info[servo].model_string="AX-18A";
- break;
- case SERVO_MX28: this->info[servo].encoder_resolution=4095;
- this->info[servo].max_angle=3600;
- this->info[servo].center_angle=1800;
- this->info[servo].max_speed=330;
- this->info[servo].model=SERVO_MX28;
- this->info[servo].model_string="MX-28";
- break;
- case SERVO_RX24F: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=3000;
- this->info[servo].center_angle=1500;
- this->info[servo].max_speed=756;
- this->info[servo].model=SERVO_RX24F;
- this->info[servo].model_string="RX-24F";
- break;
- case SERVO_RX28: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=3000;
- this->info[servo].center_angle=1500;
- this->info[servo].max_speed=402;
- this->info[servo].model=SERVO_RX28;
- this->info[servo].model_string="RX-28";
- break;
- case SERVO_RX64: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=3000;
- this->info[servo].center_angle=1500;
- this->info[servo].max_speed=294;
- this->info[servo].model=SERVO_RX64;
- this->info[servo].model_string="RX-64";
- break;
- case SERVO_MX64: this->info[servo].encoder_resolution=4095;
- this->info[servo].max_angle=3600;
- this->info[servo].center_angle=1800;
- this->info[servo].max_speed=378;
- this->info[servo].model=SERVO_MX64;
- this->info[servo].model_string="MX-64";
- break;
- case SERVO_EX106: this->info[servo].encoder_resolution=1023;
- this->info[servo].max_angle=2500;
- this->info[servo].center_angle=1250;
- this->info[servo].max_speed=414;
- this->info[servo].model=SERVO_EX106;
- this->info[servo].model_string="EX-106";
- break;
- case SERVO_MX106: this->info[servo].encoder_resolution=4095;
- this->info[servo].max_angle=3600;
- this->info[servo].center_angle=1800;
- this->info[servo].max_speed=270;
- this->info[servo].model=SERVO_MX106;
- this->info[servo].model_string="MX-106";
- break;
- default: throw CMtnException(_HERE_,"Invalid servo type");
- break;
- }
- }
-}
-
-void CRobotisMtn::set_motor_type(unsigned int servo, std::string model)
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- {
- if(model=="AX-12A")
- this->set_motor_type(servo,SERVO_AX12A);
- else if(model=="AX-12W")
- this->set_motor_type(servo,SERVO_AX12W);
- else if(model=="AX-18A")
- this->set_motor_type(servo,SERVO_AX18A);
- else if(model=="MX-28")
- this->set_motor_type(servo,SERVO_MX28);
- else if(model=="RX24F")
- this->set_motor_type(servo,SERVO_RX24F);
- else if(model=="RX-28")
- this->set_motor_type(servo,SERVO_RX28);
- else if(model=="RX-64")
- this->set_motor_type(servo,SERVO_RX64);
- else if(model=="MX64")
- this->set_motor_type(servo,SERVO_MX64);
- else if(model=="EX-106")
- this->set_motor_type(servo,SERVO_EX106);
- else if(model=="MX-106")
- this->set_motor_type(servo,SERVO_MX106);
- else
- throw CMtnException(_HERE_,"Invalid servo type");
- }
-}
-
-void CRobotisMtn::set_motor_types(std::vector<std::string> &models)
-{
- unsigned int i=0;
-
- if(this->get_num_servos()!=models.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid motor type vector size");
- }
- else
- for(i=0;i<this->get_num_servos();i++)
- this->set_motor_type(i,models[i]);
-}
-
-void CRobotisMtn::set_motor_types(std::vector<int> &motor_types)
-{
- unsigned int i=0;
-
- if(this->get_num_servos()!=motor_types.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid motor type vector size");
- }
- else
- for(i=0;i<this->get_num_servos();i++)
- this->set_motor_type(i,motor_types[i]);
-}
-
-void CRobotisMtn::add_page(CRobotisPage &page)
-{
- this->pages.push_back(page);
-}
-
-std::string CRobotisMtn::get_type(void) const
-{
- return this->type;
-}
-
-double CRobotisMtn::get_version(void) const
-{
- return this->version;
-}
-
-unsigned int CRobotisMtn::get_num_servos(void) const
-{
- return this->num_servos;
-}
-
-bool CRobotisMtn::get_enable(unsigned int servo) const
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->enable[servo];
-}
-
-std::vector<bool> CRobotisMtn::get_enables(void) const
-{
- return this->enable;
-}
-
-int CRobotisMtn::get_motor_type(unsigned int servo) const
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->info[servo].model;
-}
-
-std::string CRobotisMtn::get_motor_model(unsigned int servo) const
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->info[servo].model_string;
-}
-
-std::vector<int> CRobotisMtn::get_motor_types(void) const
-{
- std::vector<int> types;
- unsigned int i=0;
-
- for(i=0;i<this->get_num_servos();i++)
- types.push_back(this->info[i].model);
-
- return types;
-}
-
-std::vector<std::string> CRobotisMtn::get_motor_models(void) const
-{
- std::vector<std::string> models;
- unsigned int i=0;
-
- for(i=0;i<this->get_num_servos();i++)
- models.push_back(this->info[i].model_string);
-
- return models;
-}
-
-TServoInfo CRobotisMtn::get_motor_info(unsigned int servo) const
-{
- if(servo>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->info[servo];
-}
-
-std::vector<TServoInfo> CRobotisMtn::get_motor_infos(void) const
-{
- return this->info;
-}
-
-unsigned int CRobotisMtn::get_num_pages(void) const
-{
- return this->pages.size();
-}
-
-CRobotisPage CRobotisMtn::get_page(unsigned int page) const
-{
- if(page>this->pages.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid page index");
- }
- else
- return this->pages[page];
-}
-
-void CRobotisMtn::clear(void)
-{
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->info.clear();
- this->pages.clear();
-}
-
-CRobotisMtn CRobotisMtn::operator =(CRobotisMtn mtn)
-{
- unsigned int i=0;
-
- this->type=mtn.type;
- this->version=mtn.version;
- this->enable.clear();
- for(i=0;i<mtn.get_num_servos();i++)
- this->enable.push_back(mtn.enable[i]);
- this->info.clear();
- for(i=0;i<mtn.get_num_servos();i++)
- this->info.push_back(mtn.info[i]);
- pages.clear();
- for(i=0;i<mtn.pages.size();i++)
- this->pages.push_back(mtn.pages[i]);
- this->num_servos=mtn.get_num_servos();
-
- return *this;
-}
-
-double CRobotisMtn::get_angle(unsigned int servo_id, unsigned char page_id, unsigned char step_id)
-{
- CRobotisPage page;
- CRobotisStep step;
- unsigned short int value;
-
- page=this->get_page(page_id);
- step=page.get_step(step_id);
- if(servo_id>this->get_num_servos())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- {
- value=step.get_angle(servo_id);
- return (value*this->info[servo_id].max_angle)/this->info[servo_id].encoder_resolution-this->info[servo_id].center_angle;
- }
-}
-
-CRobotisMtn::~CRobotisMtn()
-{
- this->clear();
-}
-
diff --git a/src/robotis_mtn/robotis_mtn.h b/src/robotis_mtn/robotis_mtn.h
deleted file mode 100644
index e50f377c4d86bc323ac577cd117715487f07f6c2..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_mtn.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef _ROBOTIS_MTN_H
-#define _ROBOTIS_MTN_H
-
-#include "robotis_page.h"
-
-#define SERVO_AX12A 0x000C
-#define SERVO_AX12W 0x012C
-#define SERVO_AX18A 0x0012
-#define SERVO_MX28 0x001D
-#define SERVO_RX24F 0x0018
-#define SERVO_RX28 0x001C
-#define SERVO_RX64 0x0040
-#define SERVO_MX64 0x0136
-#define SERVO_EX106 0x006B
-#define SERVO_MX106 0x0140
-
-typedef struct
-{
- unsigned short int model;
- std::string model_string;
- unsigned short int encoder_resolution;
- double max_angle;
- double center_angle;
- double max_speed;
-}TServoInfo;
-
-class CRobotisMtn
-{
- private:
- std::string type;
- double version;
- int num_servos;
- std::vector<bool> enable;
- std::vector<CRobotisPage> pages;
- std::vector<TServoInfo> info;
- public:
- CRobotisMtn();
- CRobotisMtn(CRobotisMtn &mtn);
- void set_type(const std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enable(unsigned int servo,bool enable);
- void set_enables(std::vector<bool> &enables);
- void set_motor_type(unsigned int servo, int motor_type);
- void set_motor_type(unsigned int servo, std::string model);
- void set_motor_types(std::vector<int> &motor_types);
- void set_motor_types(std::vector<std::string> &models);
- void add_page(CRobotisPage &page);
- std::string get_type(void) const;
- double get_version(void) const;
- unsigned int get_num_servos(void) const;
- bool get_enable(unsigned int servo) const;
- std::vector<bool> get_enables(void) const;
- int get_motor_type(unsigned int servo) const;
- std::string get_motor_model(unsigned int servo) const;
- std::vector<int> get_motor_types(void) const;
- std::vector<std::string> get_motor_models(void) const;
- TServoInfo get_motor_info(unsigned int servo) const;
- std::vector<TServoInfo> get_motor_infos(void) const;
- unsigned int get_num_pages(void) const;
- CRobotisPage get_page(unsigned int page) const;
- void clear(void);
- CRobotisMtn operator=(CRobotisMtn mtn);
- // angle conversion functions
- double get_angle(unsigned int servo_id, unsigned char page_id, unsigned char step_id);
- ~CRobotisMtn();
-};
-
-#endif
diff --git a/src/robotis_mtn/robotis_page.cpp b/src/robotis_mtn/robotis_page.cpp
deleted file mode 100644
index f35cd31ca434e44ef3ba4da9c819ba552fbf2ce9..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_page.cpp
+++ /dev/null
@@ -1,283 +0,0 @@
-#include "robotis_page.h"
-#include "mtn_exceptions.h"
-
-CRobotisPage::CRobotisPage()
-{
- this->name="";
- this->cw_compliance.clear();
- this->ccw_compliance.clear();
- this->next_page=0;
- this->exit_page=0;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=0;
- this->steps.clear();
-}
-
-CRobotisPage::CRobotisPage(const CRobotisPage &page)
-{
- unsigned int i=0;
-
- this->name=page.name;
- this->cw_compliance.resize(page.cw_compliance.size());
- this->ccw_compliance.resize(page.ccw_compliance.size());
- for(i=0;i<page.cw_compliance.size();i++)
- {
- this->cw_compliance[i]=page.cw_compliance[i];
- this->ccw_compliance[i]=page.ccw_compliance[i];
- }
- this->next_page=page.next_page;
- this->exit_page=page.exit_page;
- this->repetitions=page.repetitions;
- this->speed_rate=page.speed_rate;
- this->inertial=page.inertial;
- this->steps.clear();
- for(i=0;i<page.steps.size();i++)
- this->steps.push_back(page.get_step(i));
-}
-
-void CRobotisPage::set_num_servos(unsigned int num_servos)
-{
- this->cw_compliance.resize(num_servos);
- this->ccw_compliance.resize(num_servos);
-}
-
-void CRobotisPage::set_name(const std::string &name)
-{
- this->name=name;
-}
-
-void CRobotisPage::set_cw_compliance(unsigned int servo,unsigned char cw_compliance)
-{
- if(servo>this->cw_compliance.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- this->cw_compliance[servo]=cw_compliance;
-}
-
-void CRobotisPage::set_cw_compliances(std::vector<unsigned char> cw_compliances)
-{
- unsigned int i=0;
-
- if(this->cw_compliance.size()!=cw_compliances.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid compliance vector size");
- }
- else
- {
- for(i=0;i<this->cw_compliance.size();i++)
- this->cw_compliance[i]=cw_compliances[i];
- }
-}
-
-void CRobotisPage::set_ccw_compliance(unsigned int servo,unsigned char ccw_compliance)
-{
- if(servo>this->ccw_compliance.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- this->ccw_compliance[servo]=ccw_compliance;
-}
-
-void CRobotisPage::set_ccw_compliances(std::vector<unsigned char> ccw_compliances)
-{
- unsigned int i=0;
-
- if(this->ccw_compliance.size()!=ccw_compliances.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid compliance vector size");
- }
- else
- {
- for(i=0;i<this->ccw_compliance.size();i++)
- this->ccw_compliance[i]=ccw_compliances[i];
- }
-}
-
-void CRobotisPage::set_next_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid next page index");
- }
- else
- this->next_page=page;
-}
-
-void CRobotisPage::set_exit_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid exit page index");
- }
- else
- this->exit_page=page;
-}
-
-void CRobotisPage::set_repetitions(unsigned int num)
-{
- if(num>=256)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid number of repetitions");
- }
- else
- this->repetitions=num;
-}
-
-void CRobotisPage::set_speed_rate(double rate)
-{
- this->speed_rate=rate;
-}
-
-void CRobotisPage::set_inertial(unsigned int inertia)
-{
- if(inertia>=256)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid inertial force value");
- }
- else
- this->inertial=inertia;
-}
-
-void CRobotisPage::add_step(CRobotisStep &step)
-{
- if(this->steps.size()>=7)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Impossible to add more steps");
- }
- else
- this->steps.push_back(step);
-}
-
-std::string CRobotisPage::get_name(void) const
-{
- return this->name;
-}
-
-unsigned char CRobotisPage::get_cw_compliance(unsigned int servo) const
-{
- if(servo>this->cw_compliance.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->cw_compliance[servo];
-}
-
-std::vector<unsigned char> CRobotisPage::get_cw_compliances(void) const
-{
- return this->cw_compliance;
-}
-
-unsigned char CRobotisPage::get_ccw_compliance(unsigned int servo) const
-{
- if(servo>this->ccw_compliance.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->ccw_compliance[servo];
-}
-
-std::vector<unsigned char> CRobotisPage::get_ccw_compliances(void) const
-{
- return this->ccw_compliance;
-}
-
-unsigned int CRobotisPage::get_next_page(void) const
-{
- return this->next_page;
-}
-
-unsigned int CRobotisPage::get_exit_page(void) const
-{
- return this->exit_page;
-}
-
-unsigned int CRobotisPage::get_repetitions(void) const
-{
- return this->repetitions;
-}
-
-double CRobotisPage::get_speed_rate(void) const
-{
- return this->speed_rate;
-}
-
-unsigned int CRobotisPage::get_inertial(void) const
-{
- return this->inertial;
-}
-
-unsigned int CRobotisPage::get_num_steps(void) const
-{
- return this->steps.size();
-}
-
-CRobotisStep CRobotisPage::get_step(unsigned int step) const
-{
- if(step>this->steps.size())
- {
- /* handle error */
- throw CMtnException(_HERE_,"Invalid step index");
- }
- else
- return this->steps[step];
-}
-
-void CRobotisPage::clear(void)
-{
- this->name.clear();
- this->cw_compliance.clear();
- this->ccw_compliance.clear();
- this->next_page=0;
- this->exit_page=0;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=0;
- this->steps.clear();
-}
-
-CRobotisPage CRobotisPage::operator =(CRobotisPage page)
-{
- unsigned int i=0;
-
- this->name=page.name;
- this->cw_compliance.resize(page.cw_compliance.size());
- this->ccw_compliance.resize(page.ccw_compliance.size());
- for(i=0;i<page.cw_compliance.size();i++)
- {
- this->cw_compliance[i]=page.cw_compliance[i];
- this->ccw_compliance[i]=page.ccw_compliance[i];
- }
- this->next_page=page.next_page;
- this->exit_page=page.exit_page;
- this->repetitions=page.repetitions;
- this->speed_rate=page.speed_rate;
- this->inertial=page.inertial;
- this->steps.clear();
- for(i=0;i<page.steps.size();i++)
- this->steps.push_back(page.get_step(i));
-
- return *this;
-}
-
-CRobotisPage::~CRobotisPage()
-{
- this->clear();
-}
-
diff --git a/src/robotis_mtn/robotis_page.h b/src/robotis_mtn/robotis_page.h
deleted file mode 100644
index 890b3f35a871fa9d05bc6ea066e45a7b1957a6ad..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_page.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#ifndef _ROBOTIS_PAGE_H
-#define _ROBOTIS_PAGE_H
-
-#include "robotis_step.h"
-#include <string>
-
-class CRobotisPage
-{
- private:
- std::string name;
- std::vector<unsigned char> cw_compliance;
- std::vector<unsigned char> ccw_compliance;
- unsigned int next_page;
- unsigned int exit_page;
- unsigned int repetitions;
- double speed_rate;
- unsigned int inertial;
- std::vector<CRobotisStep> steps;
- public:
- CRobotisPage();
- CRobotisPage(const CRobotisPage &page);
- void set_num_servos(unsigned int num_servos);
- void set_name(const std::string &name);
- void set_cw_compliance(unsigned int servo,unsigned char cw_compliance);
- void set_cw_compliances(std::vector<unsigned char> cw_compliances);
- void set_ccw_compliance(unsigned int servo,unsigned char ccw_compliance);
- void set_ccw_compliances(std::vector<unsigned char> ccw_compliances);
- void set_next_page(unsigned int page);
- void set_exit_page(unsigned int page);
- void set_repetitions(unsigned int num);
- void set_speed_rate(double rate);
- void set_inertial(unsigned int inertia);
- void add_step(CRobotisStep &step);
- std::string get_name(void) const;
- unsigned char get_cw_compliance(unsigned int servo) const;
- std::vector<unsigned char> get_cw_compliances(void) const;
- unsigned char get_ccw_compliance(unsigned int servo) const;
- std::vector<unsigned char> get_ccw_compliances(void) const;
- unsigned int get_next_page(void) const;
- unsigned int get_exit_page(void) const;
- unsigned int get_repetitions(void) const;
- double get_speed_rate(void) const;
- unsigned int get_inertial(void) const;
- unsigned int get_num_steps(void) const;
- CRobotisStep get_step(unsigned int step) const;
- void clear(void);
- CRobotisPage operator =(CRobotisPage page);
- ~CRobotisPage();
-};
-
-#endif
diff --git a/src/robotis_mtn/robotis_step.cpp b/src/robotis_mtn/robotis_step.cpp
deleted file mode 100644
index 8519811dc711c03f44284133d730d2c335068317..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_step.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "robotis_step.h"
-#include "mtn_exceptions.h"
-
-CRobotisStep::CRobotisStep()
-{
- this->angles.clear();
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
-CRobotisStep::CRobotisStep(const CRobotisStep &step)
-{
- unsigned int i=0;
-
- this->pause_time=step.pause_time;
- this->step_time=step.step_time;
- this->angles.resize(step.angles.size());
- for(i=0;i<step.angles.size();i++)
- this->angles[i]=step.angles[i];
-}
-
-void CRobotisStep::set_num_servos(unsigned int num_servos)
-{
- this->angles.resize(num_servos);
-}
-
-void CRobotisStep::set_angle(unsigned int servo,unsigned short int angle)
-{
- if(servo>this->angles.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- this->angles[servo]=angle;
-}
-
-void CRobotisStep::set_angles(std::vector<unsigned short int> &angles)
-{
- unsigned int i=0;
-
- if(angles.size()!=this->angles.size())
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid vector size");
- }
- else
- {
- for(i=0;i<angles.size();i++)
- this->angles[i]=angles[i];
- }
-}
-
-void CRobotisStep::set_pause_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid pause time");
- }
- else
- this->pause_time=time;
-}
-
-void CRobotisStep::set_step_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- throw CMtnException(_HERE_,"Invalid step time");
- }
- else
- this->step_time=time;
-}
-
-unsigned short int CRobotisStep::get_angle(unsigned int servo) const
-{
- if(servo>this->angles.size())
- {
- /* handler errors */
- throw CMtnException(_HERE_,"Invalid servo index");
- }
- else
- return this->angles[servo];
-}
-
-std::vector<unsigned short int> CRobotisStep::get_angles(void) const
-{
- return this->angles;
-}
-
-double CRobotisStep::get_pause_time(void) const
-{
- return this->pause_time;
-}
-
-double CRobotisStep::get_step_time(void) const
-{
- return this->step_time;
-}
-
-void CRobotisStep::clear(void)
-{
- this->angles.clear();
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
-CRobotisStep CRobotisStep::operator =(CRobotisStep step)
-{
- unsigned int i=0;
-
- this->pause_time=step.pause_time;
- this->step_time=step.step_time;
- this->angles.resize(step.angles.size());
- for(i=0;i<step.angles.size();i++)
- this->angles[i]=step.angles[i];
-
- return *this;
-}
-
-CRobotisStep::~CRobotisStep()
-{
- this->clear();
-}
-
diff --git a/src/robotis_mtn/robotis_step.h b/src/robotis_mtn/robotis_step.h
deleted file mode 100644
index 4d5dd573831918629b62e9f0aabd33ad2298d593..0000000000000000000000000000000000000000
--- a/src/robotis_mtn/robotis_step.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef _ROBOTIS__STEP_H
-#define _ROBOTIS_STEP_H
-
-#include <vector>
-
-class CRobotisStep
-{
- private:
- std::vector<unsigned short int> angles;
- double pause_time;
- double step_time;
- public:
- CRobotisStep();
- CRobotisStep(const CRobotisStep &object);
- void set_num_servos(unsigned int num_servos);
- void set_angle(unsigned int servo,unsigned short int angle);
- void set_angles(std::vector<unsigned short int> &angles);
- void set_pause_time(double time);
- void set_step_time(double time);
- unsigned short int get_angle(unsigned int servo) const;
- std::vector<unsigned short int> get_angles(void) const;
- double get_pause_time(void) const;
- double get_step_time(void) const;
- void clear();
- CRobotisStep operator =(CRobotisStep step);
- ~CRobotisStep();
-};
-
-#endif
diff --git a/src/robotis_mtn_file/CMakeLists.txt b/src/robotis_mtn_file/CMakeLists.txt
deleted file mode 100644
index dec91906422c8dc8366b5922b6e6c40e8c625e4d..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/CMakeLists.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-# Create target for the parser
-FIND_PACKAGE(BISON REQUIRED)
-FIND_PACKAGE(FLEX REQUIRED)
-
-SET(BisonOutput mtn_parser.cpp)
-IF(BISON_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${BisonOutput}
- COMMAND ${BISON_EXECUTABLE}
- --output=${BisonOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.y
- COMMENT "Generating mtn_parser.cpp"
- )
-ENDIF(BISON_FOUND)
-
-FIND_PACKAGE(FLEX REQUIRED)
-SET(FlexOutput mtn_scanner.cpp)
-IF(FLEX_FOUND)
- ADD_CUSTOM_COMMAND(
- OUTPUT ${FlexOutput}
- COMMAND ${FLEX_EXECUTABLE}
- --outfile=${FlexOutput}
- ${CMAKE_CURRENT_SOURCE_DIR}/mtn_file.l
- COMMENT "Generating mtn_scanner.cpp"
- )
-ENDIF(FLEX_FOUND)
-
-SET(sources mtn_file_parser.cpp)
-SET(headers mtn_file_parser.hpp mtn_file_scanner.hpp)
-
-include_directories(.)
-include_directories(../robotis_mtn)
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-add_library(robotis_mtn_parser SHARED ${BisonOutput} ${FlexOutput} ${sources})
-
-target_link_libraries(robotis_mtn_parser robotis_mtn)
-
-INSTALL(TARGETS robotis_mtn_parser
- RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib
- ARCHIVE DESTINATION lib)
-INSTALL(FILES ${headers} DESTINATION include)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/mtn_parser.hpp DESTINATION include)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/stack.hh DESTINATION include)
-INSTALL(FILES ../Findrobotis_mtn_parser.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-ADD_SUBDIRECTORY(examples)
-
diff --git a/src/robotis_mtn_file/examples/CMakeLists.txt b/src/robotis_mtn_file/examples/CMakeLists.txt
deleted file mode 100644
index 595cbf73befdc8646c74eea0756e1dfde8506ec6..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/examples/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-# create an example application
-ADD_EXECUTABLE(robotis_mtn_file_test robotis_mtn_file_test.cpp)
-# link necessary libraries
-TARGET_LINK_LIBRARIES(robotis_mtn_file_test robotis_mtn_parser)
diff --git a/src/robotis_mtn_file/examples/robotis_mtn_file_test.cpp b/src/robotis_mtn_file/examples/robotis_mtn_file_test.cpp
deleted file mode 100644
index 56b985366711c2fe2d1ce33539dd30f1208b613c..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/examples/robotis_mtn_file_test.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <iostream>
-#include <cstdlib>
-#include <string.h>
-
-#include "mtn_file_parser.hpp"
-#include "mtn_exceptions.h"
-
-int main(int argc, char *argv[])
-{
- std::vector<unsigned short int> angles;
- MTN::CMtnFileParser mtn_parser;
- unsigned int i=0,j=0,k=0;
- CRobotisMtn motions;
- CRobotisPage page;
- CRobotisStep step;
-
- if(argc!=2)
- {
- std::cout << "A motion file must be provided (.mtn)" << std::endl;
- return (EXIT_FAILURE);
- }
- else
- {
- if(strstr(argv[1],".mtn")!=NULL)
- {
- try{
- mtn_parser.parse(argv[1]);
- mtn_parser.get_motions(motions);
- }catch(CMtnException &e){
- std::cout << e.what() << std::endl;
- }
- }
- else
- {
- std::cout << "Invalid file format. Supported format is .mtn" << std::endl;
- return (EXIT_FAILURE);
- }
- }
- /* show motion pages */
- std::cout << "Num. pages: " << motions.get_num_pages() << std::endl;
- for(i=0;i<motions.get_num_pages();i++)
- {
- page.clear();
- page.set_num_servos(motions.get_num_servos());
- page=motions.get_page(i);
- std::cout << "name: " << page.get_name() << std::endl;
- std::cout << "next page: " << page.get_next_page() << std::endl;
- std::cout << "exit page: " << page.get_exit_page() << std::endl;
- std::cout << "repetitions: " << page.get_repetitions() << std::endl;
- std::cout << "speed rate: " << page.get_speed_rate() << std::endl;
- std::cout << "inertial force: " << page.get_inertial() << std::endl;
- std::cout << "Num. steps: " << page.get_num_steps() << std::endl;
- for(j=0;j<page.get_num_steps();j++)
- {
- step.clear();
- step.set_num_servos(motions.get_num_servos());
- step=page.get_step(j);
- std::cout << "angles: ";
- angles=step.get_angles();
- for(k=0;k<angles.size();k++)
- std::cout << angles[k] << ",";
- std::cout << std::endl;
- std::cout << "pausetime: " << step.get_pause_time() << std::endl;
- std::cout << "step time: " << step.get_step_time() << std::endl;
- }
- }
-
- return(EXIT_SUCCESS);
-}
diff --git a/src/robotis_mtn_file/mtn_file.l b/src/robotis_mtn_file/mtn_file.l
deleted file mode 100644
index 04d5f5860a6219cac95925f4a35b656a8e8d8f9c..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/mtn_file.l
+++ /dev/null
@@ -1,37 +0,0 @@
-%{
-/* Implementation of yyFlexScanner */
-#include "mtn_file_scanner.hpp"
-#include "mtn_parser.hpp"
-
-/* typedef to make the returns for the tokens shorter */
-typedef MTN::MTN_Parser::token token;
-
-%}
-
-%option debug
-%option nodefault
-%option yyclass="MTN_File_Scanner"
-%option noyywrap
-%option c++
-%option yylineno
-
-%%
-[ \t\n] ;
-"type" { return token::TYPE; }
-"version" { return token::VERSION; }
-"enable" { return token::ENABLE; }
-"motor_type" { return token::MOTOR_TYPE; }
-"page_begin" { return token::BEGIN_PAGE; }
-"name" { return token::NAME; }
-"compliance" { return token::COMPLIANCE; }
-"play_param" { return token::PLAY_PARAMS; }
-"step" { return token::STEP; }
-"page_end" { return token::END_PAGE; }
-"=" { return token::EQUAL; }
-[0-9]+"."[0-9]+ { yylval->fval=atof(yytext); return token::FLOAT; }
-[0-9]+ { yylval->ival=atoi(yytext); return token::INT; }
-[a-zA-Z0-9_]+ { yylval->sval=new std::string(yytext);
- return token::STRING; }
-. { std::cout << "bad input character " << yytext << " at line " << yylineno << std::endl; }
-%%
-
diff --git a/src/robotis_mtn_file/mtn_file.y b/src/robotis_mtn_file/mtn_file.y
deleted file mode 100644
index c8dca07fc754a5ec8f107af9b3a8b494850a3f3f..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/mtn_file.y
+++ /dev/null
@@ -1,163 +0,0 @@
-%skeleton "lalr1.cc"
-%require "2.5"
-%defines
-%define api.namespace {MTN}
-%define parser_class_name {MTN_Parser}
-%name-prefix "mtn_"
-
-%code requires
-{
- namespace MTN
- {
- class CMtnFileParser;
- class CMtnFileScanner;
- }
-}
-
-%lex-param { CMtnFileScanner &scanner }
-%parse-param { CMtnFileScanner &scanner }
-
-%lex-param { CMtnFileParser &parser }
-%parse-param { CMtnFileParser &parser }
-
-%code
-{
- #include <iostream>
- #include <cstdlib>
- #include <fstream>
- /* include for all driver functions */
- #include "mtn_file_parser.hpp"
-
- namespace MTN
- {
- /* motion files variables */
- int num_servos;
- std::vector<bool> enables;
- std::vector<int> motor_types;
- CRobotisPage page;
- std::string motion_name;
- std::vector<unsigned char> compliances;
- CRobotisStep step;
- std::vector<unsigned short int> angles;
-
- /* this is silly, but I can't figure out a way around */
- static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::CMtnFileScanner &scanner,MTN::CMtnFileParser &parser);
- }
-}
-
-/* token types */
-%union {
- int ival;
- float fval;
- std::string *sval;
-}
-
-%token TYPE VERSION ENABLE MOTOR_TYPE BEGIN_PAGE END_PAGE
-%token NAME COMPLIANCE PLAY_PARAMS STEP
-%token EQUAL
-%token <ival> INT
-%token <fval> FLOAT
-%token <sval> STRING
-
-/* destructor rule for <sval> objects */
-%destructor { if ($$) { delete ($$); ($$) = NULL; } } <sval>
-
-%%
-motion_file: type version enables motor_types pages
- ;
-
-type: TYPE EQUAL STRING { parser.set_type(*($3));
- num_servos=0; }
- ;
-
-version: VERSION EQUAL FLOAT { parser.set_version($3); }
- ;
-
-enables: ENABLE EQUAL enable { parser.set_num_servos(num_servos);
- parser.set_enables(enables); }
- ;
-
-enable: enable INT { num_servos++;
- enables.push_back($2); }
- | INT { num_servos++;
- enables.push_back($1); }
- ;
-
-motor_types:
- | MOTOR_TYPE EQUAL motor_type { parser.set_motor_types(motor_types); }
- ;
-
-motor_type: motor_type INT { motor_types.push_back($2); }
- | INT { motor_types.push_back($1); }
- ;
-
-pages: pages page
- | page
- ;
-
-page: BEGIN_PAGE name compliances params steps END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- | BEGIN_PAGE name compliances params END_PAGE { parser.add_page(page);
- motion_name="";
- compliances.clear(); }
- ;
-
-name: NAME EQUAL { page.clear();
- page.set_num_servos(num_servos);
- page.set_name(std::string("")); }
- | NAME EQUAL strings { page.clear();
- page.set_num_servos(num_servos);
- page.set_name(motion_name); }
- ;
-
-strings: strings STRING { motion_name+=" "+*($2); }
- | STRING { motion_name+=*($1); }
- ;
-
-compliances: COMPLIANCE EQUAL compliance { page.set_cw_compliances(compliances);
- page.set_ccw_compliances(compliances); }
- ;
-
-compliance: compliance INT { compliances.push_back($2); }
- | INT { compliances.push_back($1); }
- ;
-
-params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { page.set_next_page($3);
- page.set_exit_page($4);
- page.set_repetitions($5);
- page.set_speed_rate($6);
- page.set_inertial($7); }
-
-
-steps: steps step
- | step
- ;
-
-
-step: STEP EQUAL angles FLOAT FLOAT { step.clear();
- step.set_num_servos(num_servos);
- step.set_angles(angles);
- angles.clear();
- step.set_pause_time($4);
- step.set_step_time($5);
- page.add_step(step); }
- ;
-
-angles: angles INT { angles.push_back($2); }
- | INT { angles.push_back($1); }
- ;
-%%
-void
-MTN::MTN_Parser::error(const std::string& err_message)
-{
- std::cerr << "Error: " << err_message << "\n";
-}
-
-/* include for access to scanner.yylex */
-#include "mtn_file_scanner.hpp"
-
-static int MTN::yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::CMtnFileScanner &scanner,MTN::CMtnFileParser &parser)
-{
- return(scanner.yylex(yylval));
-}
diff --git a/src/robotis_mtn_file/mtn_file_parser.cpp b/src/robotis_mtn_file/mtn_file_parser.cpp
deleted file mode 100644
index 2d01bf0f12f2c72e05eba4e3a06a2e09cdc52ed8..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/mtn_file_parser.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-#include <cctype>
-#include <fstream>
-#include <cassert>
-#include <unistd.h>
-
-#include "mtn_file_parser.hpp"
-#include "mtn_parser.hpp"
-
-MTN::CMtnFileParser::CMtnFileParser()
-{
- this->scanner=NULL;
- this->parser=NULL;
-}
-
-MTN::CMtnFileParser::~CMtnFileParser()
-{
- if(this->scanner!=NULL)
- {
- delete this->scanner;
- this->scanner=NULL;
- }
- if(this->parser!=NULL)
- {
- delete this->parser;
- this->parser=NULL;
- }
-}
-
-void MTN::CMtnFileParser::parse(const char *filename)
-{
- std::ifstream in_file(filename);
- if(!in_file.good())
- _exit( -1 );
- if(this->scanner!=NULL)
- delete this->scanner;
- try
- {
- scanner=new MTN::CMtnFileScanner(&in_file);
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate scanner: (" << ba.what() << "), _exiting!!\n";
- _exit( -1 );
- }
- if(this->parser!=NULL)
- delete this->parser;
- try
- {
- parser = new MTN::MTN_Parser((*scanner),(*this));
- }catch(std::bad_alloc &ba){
- std::cerr << "Failed to allocate parser: (" << ba.what() << "), _exiting!!\n";
- _exit( -1 );
- }
-
- const int accept(0);
- if(parser->parse()!=accept)
- {
- std::cerr << "Parse failed!!\n";
- }
-}
-
-void MTN::CMtnFileParser::set_type(std::string &type)
-{
- this->motions.set_type(type);
-}
-
-void MTN::CMtnFileParser::set_version(double version)
-{
- this->motions.set_version(version);
-}
-
-void MTN::CMtnFileParser::set_num_servos(unsigned int num_servos)
-{
- this->motions.set_num_servos(num_servos);
-}
-
-void MTN::CMtnFileParser::set_enables(std::vector<bool> &enables)
-{
- this->motions.set_enables(enables);
-}
-
-void MTN::CMtnFileParser::set_motor_types(std::vector<int> &motor_types)
-{
- this->motions.set_motor_types(motor_types);
-}
-
-void MTN::CMtnFileParser::add_page(CRobotisPage &page)
-{
- this->motions.add_page(page);
-}
-
-void MTN::CMtnFileParser::get_motions(CRobotisMtn &motions)
-{
- motions.clear();
- motions=this->motions;
-}
diff --git a/src/robotis_mtn_file/mtn_file_parser.hpp b/src/robotis_mtn_file/mtn_file_parser.hpp
deleted file mode 100644
index e9ca45cf84f6d5e5cc9e22b632b1b4db5af8d093..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/mtn_file_parser.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef _MTN_FILE_PARSER_HPP
-#define _MTN_FILE_PARSER_HPP
-
-#include <string>
-#include "mtn_file_scanner.hpp"
-#include "robotis_mtn.h"
-
-namespace MTN
-{
- class CMtnFileParser
- {
- friend class MTN_Parser;
- private:
- MTN::MTN_Parser *parser;
- MTN::CMtnFileScanner *scanner;
- CRobotisMtn motions;
- protected:
- // motion files functions
- void set_type(std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enables(std::vector<bool> &enables);
- void set_motor_types(std::vector<int> &motor_types);
- void add_page(CRobotisPage &page);
- public:
- CMtnFileParser();
- void parse(const char *filename);
- virtual ~CMtnFileParser();
- void get_motions(CRobotisMtn &motions);
- };
-}
-
-#endif
diff --git a/src/robotis_mtn_file/mtn_file_scanner.hpp b/src/robotis_mtn_file/mtn_file_scanner.hpp
deleted file mode 100644
index 02f31a54d243c345966f245b86c4029d6559cf72..0000000000000000000000000000000000000000
--- a/src/robotis_mtn_file/mtn_file_scanner.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _MTN_FILE_SCANNER_HPP
-#define _MTN_FILE_SCANNER_HPP
-
-#if !defined(yyFlexLexerOnce)
-#include <FlexLexer.h>
-#endif
-
-#undef YY_DECL
-#define YY_DECL int MTN::CMtnFileScanner::yylex()
-
-#include "mtn_parser.hpp"
-
-namespace MTN
-{
- class CMtnFileScanner : public yyFlexLexer
- {
- public:
- CMtnFileScanner(std::istream *in) : yyFlexLexer(in), yylval( NULL )
- {
- };
- int yylex(MTN::MTN_Parser::semantic_type *lval)
- {
- yylval = lval;
- return( yylex() );
- }
-
- private:
- /* hide this one from public view */
- int yylex();
- /* yyval ptr */
- MTN::MTN_Parser::semantic_type *yylval;
- };
-} /* end namespace MC */
-
-#endif