ft-calibration.hh

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/*
 * Copyright 2019
 * LAAS-CNRS
 * F. Bailly
 * T. Flayols
 */
 
#ifndef __sot_talos_balance_ft_calibration_H__
#define __sot_talos_balance_ft_calibration_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_talos_balance_ft_calibration_H__)
#define SOTFTCALIBRATION_EXPORT __declspec(dllexport)
#else
#define SOTFTCALIBRATION_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFTCALIBRATION_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
// include pinocchio first
 
#include <dynamic-graph/real-time-logger.h>
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
#include <sot/talos_balance/robot/robot-wrapper.hh>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTFTCALIBRATION_EXPORT FtCalibration : public ::dynamicgraph::Entity {
  // typedef FtCalibration EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  FtCalibration(const std::string &name);
  void init(const std::string &robotRef);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(right_foot_force_in, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(left_foot_force_in, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_foot_force_out, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_foot_force_out, dynamicgraph::Vector);
 
  /* --- COMMANDS --- */
 
  void setRightFootWeight(const double &rightW);
  void setLeftFootWeight(const double &leftW);
 
  void calibrateFeetSensor();
 
  void displayRobotUtil();
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;
 
  /* --- TYPEDEFS ---- */
  typedef Eigen::Matrix<double, 6, 1> Vector6d;
 
 protected:
  RobotUtilShrPtr m_robot_util;
  int m_right_calibration_iter =
      -1;  
  int m_left_calibration_iter =
      -1;  
  Vector6d
      m_right_FT_offset;  
  Vector6d
      m_left_FT_offset;  
  Vector6d m_right_FT_offset_calibration_sum;  
  Vector6d m_left_FT_offset_calibration_sum;   
  bool
      m_initSucceeded;  
  Vector6d
      m_right_foot_weight;  // weight of the right feet underneath the ft sensor
  Vector6d
      m_left_foot_weight;  // weight of the left feet underneath the ft sensor
 
};  // class FtCalibration
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_ft_calibration_H__