TactileValue.h

/* ============================================================
 *
 * Copyright (C) 2015 by Robert Haschke <rhaschke at techfak dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the "LGPL"),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CITEC, "Cognitive Interaction Technology" Excellence Cluster
 *     Bielefeld University
 *
 * ============================================================ */
#pragma once

#include "Range.h"
#include "Calibration.h"
#include <string>
#include <memory>

namespace tactile {

/* Abstraction of a single tactile sensor value.
   The class computes some internal data statistics to compute
   values smoothed over time, current range statistics and derived values
*/
class TactileValue {
public:
	enum Mode
	{
		rawCurrent = 0,     // current raw value, now computation, no averinging
		rawMean,            // averaged raw value
		absCurrent,         // raw value - min value
		absMean,            // averaged absCurrent
		dynCurrent,         // relative value (0-1) within min-max range
		dynMean,            // averaged dynCurrent
		dynCurrentRelease,  // like dynCurrent, but negative values indicate difference force to
		                    // recently released grasp
		dynMeanRelease,     // averaged dynMeanRelease
		lastMode = dynMeanRelease,
	};
	TactileValue(float fMin = FLT_MAX, float fMax = -FLT_MAX);

	static Mode getMode(const std::string& sName);
	static std::string getModeName(Mode m);

	void init(float fMin = FLT_MAX, float fMax = -FLT_MAX);
	void update(float fNew);

	float value(Mode mode) const;

	void setMeanLambda(float fLambda);
	void setRangeLambda(float fLambda);
	void setReleaseDecay(float fDecay);

	float getMeanLambda() const { return fMeanLambda; }
	float getRangeLambda() const { return fRangeLambda; }
	float getReleaseDecay() const { return fReleaseDecay; }

	const Range& absRange() const { return rAbsRange; }
	const Range& dynRange() const { return rDynRange; }

	void setCalibration(const std::shared_ptr<Calibration>& c) { calib = c; }
	std::shared_ptr<Calibration> getCalibration() const { return calib; }

protected:
	float fMeanLambda, fRangeLambda, fReleaseDecay;
	float fCur, fMean, fReleased;
	Range rAbsRange;
	Range rDynRange;
	std::shared_ptr<Calibration> calib;
};

}  // namespace tactile