foot-force-difference-controller.hh

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/*
 * Copyright 2018, Gepetto team, LAAS-CNRS
 *
 * This file is part of sot-talos-balance.
 * sot-talos-balance 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.
 * sot-talos-balance 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 sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef __sot_talos_balance_foot_force_difference_controller_H__
#define __sot_talos_balance_foot_force_difference_controller_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(foot_force_difference_controller_EXPORTS)
#define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllexport)
#else
#define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <sot/core/matrix-geometry.hh>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT FootForceDifferenceController
    : public ::dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  FootForceDifferenceController(const std::string& name);
 
  void init();
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(phase, int);
 
  DECLARE_SIGNAL_IN(gainSwing, double);
  DECLARE_SIGNAL_IN(gainStance, double);
  DECLARE_SIGNAL_IN(gainDouble, double);
 
  DECLARE_SIGNAL_IN(dfzAdmittance, double);
  DECLARE_SIGNAL_IN(vdcFrequency, double);
  DECLARE_SIGNAL_IN(vdcDamping, double);
 
  DECLARE_SIGNAL_IN(swingAdmittance, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(wrenchRightDes, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrenchLeftDes, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrenchRight, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrenchLeft, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(posRightDes, MatrixHomogeneous);
  DECLARE_SIGNAL_IN(posLeftDes, MatrixHomogeneous);
  DECLARE_SIGNAL_IN(posRight, MatrixHomogeneous);
  DECLARE_SIGNAL_IN(posLeft, MatrixHomogeneous);
 
  DECLARE_SIGNAL_INNER(dz_ctrl, double);
  DECLARE_SIGNAL_INNER(dz_pos, double);
 
  DECLARE_SIGNAL_OUT(vRight, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(vLeft, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_OUT(gainRight, double);
  DECLARE_SIGNAL_OUT(gainLeft, double);
 
  /* --- COMMANDS --- */
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
 protected:
  Eigen::Vector3d calcSwingAdmittance(
      const dynamicgraph::Vector& wrench,
      const dynamicgraph::Vector& swingAdmittance);
 
  double m_eps;
  bool
      m_initSucceeded;  
 
};  // class FootForceDifferenceController
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_foot_force_difference_controller_H__