admittance-controller-end-effector.hh

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/*
 * Copyright 2019
 *
 * LAAS-CNRS
 *
 * Fanny Risbourg
 * This file is part of sot-talos-balance.
 * See license file.
 */
 
#ifndef __sot_talos_balance_admittance_controller_end_effector_H__
#define __sot_talos_balance_admittance_controller_end_effector_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(admittance_controller_end_effector_EXPORTS)
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllexport)
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllimport)
#endif
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
// include pinocchio first
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <sot/core/robot-utils.hh>
 
#include "boost/assign.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/se3.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class ADMITTANCECONTROLLERENDEFFECTOR_EXPORT AdmittanceControllerEndEffector
    : public ::dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  AdmittanceControllerEndEffector(const std::string &name);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(dqSaturation, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(force, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(w_forceDes, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_INNER(w_force, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(w_dq, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
 
  /* --- COMMANDS --- */
  void init(const double &dt, const std::string &sensorFrameName,
            const std::string &endeffectorName);
 
  void resetDq();
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;
 
 protected:
  int m_n;
  bool m_initSucceeded;
  dynamicgraph::Vector m_w_dq;
  double m_dt;
  // Weight of the end-effector
  double m_mass;
 
  RobotUtilShrPtr m_robot_util;
  pinocchio::Model m_model;
  pinocchio::Data *m_data;
  pinocchio::FrameIndex m_sensorFrameId;
  pinocchio::JointIndex m_endEffectorId;
 
};  // class AdmittanceControllerEndEffector
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_admittance_controller_end_effector_H__