OpticalBench.h

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#ifndef OPTICALBENCH_H
#define OPTICALBENCH_H

#include "gcp/util/common/Angle.h"

namespace gcp {
  namespace antenna {
    namespace control {
      
      class OpticalBench {
    
    public:
    
    OpticalBench();
    
    ~OpticalBench();
    
        void setZeroPosition(double y1, double y2, double y3, double x4, double x5, double z6); 
        void setOffset(double y1, double y2, double y3, double x4, double x5, double z6);   
        void setUseBrakes(bool use_brakes);
        void setAcquiredThreshold(double threshold);
        double getAcquiredThreshold() {return acquiredThreshold_;};
        void setFocus(double focus);
        double getDeadBand();
        double getFocus() {return focus_;};;
        double enforceY1Limits(double y1);
        double enforceY2Limits(double y2);
        double enforceY3Limits(double y3);
        double enforceX4Limits(double x4);
        double enforceX5Limits(double x5);
        double enforceZ6Limits(double z6);
        double getExpectedY1();
        double getExpectedY2();
        double getExpectedY3();
        double getExpectedX4();
        double getExpectedX5();
        double getExpectedZ6();

        double getZerosY1() {return zeroPosition_.y1;};
        double getZerosY2() {return zeroPosition_.y2;};
        double getZerosY3() {return zeroPosition_.y3;};
        double getZerosX4() {return zeroPosition_.x4;};
        double getZerosX5() {return zeroPosition_.x5;};
        double getZerosZ6() {return zeroPosition_.z6;};

        double getOffsetY1() {return offset_.y1;};
        double getOffsetY2() {return offset_.y2;};
        double getOffsetY3() {return offset_.y3;};
        double getOffsetX4() {return offset_.x4;};
        double getOffsetX5() {return offset_.x5;};
        double getOffsetZ6() {return offset_.z6;};

        private:
         
        class OpticalBenchPosition {
        public:
          double y1; 
          double y2; 
          double y3; 
          double x4; 
          double x5; 
          double z6; 
        };

        class OpticalBenchOffset {
        public:
          double y1; 
          double y2; 
          double y3; 
          double x4; 
          double x5; 
          double z6; 
        };

        OpticalBenchPosition zeroPosition_;
        OpticalBenchPosition lowLimit_;
        OpticalBenchPosition highLimit_;
        OpticalBenchOffset   offset_;
        bool                 useBrakes_;
        double               acquiredThreshold_;
        double               focus_;
        gcp::util::Angle     theta_;
    
      }; // End class Tracker
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace gcp

#endif