ankle-joint-selector.cpp

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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/>.
 */
 
#include "sot/talos_balance/ankle-joint-selector.hh"
 
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>
 
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
namespace dg = ::dynamicgraph;
using namespace dg;
using namespace dg::command;
 
#define INPUT_SIGNALS                                              \
  m_phaseSIN << m_rightRollCoupledSIN << m_rightRollDecoupledSIN   \
             << m_rightPitchCoupledSIN << m_rightPitchDecoupledSIN \
             << m_leftRollCoupledSIN << m_leftRollDecoupledSIN     \
             << m_leftPitchCoupledSIN << m_leftPitchDecoupledSIN
 
#define OUTPUT_SIGNALS                                                       \
  m_selecLeftSOUT << m_selecRightSOUT << m_rightRollSOUT << m_rightPitchSOUT \
                  << m_leftRollSOUT << m_leftPitchSOUT
 
typedef AnkleJointSelector EntityClassName;
 
/* --- DG FACTORY ---------------------------------------------------- */
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AnkleJointSelector, "AnkleJointSelector");
 
/* ------------------------------------------------------------------- */
/* --- CONSTRUCTION -------------------------------------------------- */
/* ------------------------------------------------------------------- */
AnkleJointSelector::AnkleJointSelector(const std::string& name)
    : Entity(name),
      CONSTRUCT_SIGNAL_IN(phase, int),
      CONSTRUCT_SIGNAL_IN(rightRollCoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(rightRollDecoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(rightPitchCoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(rightPitchDecoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(leftRollCoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(leftRollDecoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(leftPitchCoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(leftPitchDecoupled, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_OUT(selecLeft, Flags, m_phaseSIN),
      CONSTRUCT_SIGNAL_OUT(selecRight, Flags, m_phaseSIN),
      CONSTRUCT_SIGNAL_OUT(
          rightRoll, dynamicgraph::Vector,
          m_phaseSIN << m_rightRollCoupledSIN << m_rightRollDecoupledSIN),
      CONSTRUCT_SIGNAL_OUT(
          rightPitch, dynamicgraph::Vector,
          m_phaseSIN << m_rightPitchCoupledSIN << m_rightPitchDecoupledSIN),
      CONSTRUCT_SIGNAL_OUT(
          leftRoll, dynamicgraph::Vector,
          m_phaseSIN << m_leftRollCoupledSIN << m_leftRollDecoupledSIN),
      CONSTRUCT_SIGNAL_OUT(
          leftPitch, dynamicgraph::Vector,
          m_phaseSIN << m_leftPitchCoupledSIN << m_leftPitchDecoupledSIN),
      m_zeros(),
      m_ones(true),
      m_initSucceeded(false) {
  Entity::signalRegistration(INPUT_SIGNALS << OUTPUT_SIGNALS);
 
  /* Commands. */
  addCommand("init", makeCommandVoid1(*this, &AnkleJointSelector::init,
                                      docCommandVoid1("Initialize the entity.",
                                                      "Number of joints")));
}
 
void AnkleJointSelector::init(const int& n) {
  m_n = n;
  m_initSucceeded = true;
}
 
/* ------------------------------------------------------------------- */
/* --- SIGNALS ------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
DEFINE_SIGNAL_OUT_FUNCTION(selecLeft, Flags) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute selecLeft before initialization!");
    return s;
  }
 
  const int& phase = m_phaseSIN(iter);
 
  s = phase >= 0 ? m_ones : m_zeros;
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(selecRight, Flags) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute selecRight before initialization!");
    return s;
  }
 
  const int& phase = m_phaseSIN(iter);
 
  s = phase <= 0 ? m_ones : m_zeros;
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(leftRoll, dg::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute leftRoll before initialization!");
    return s;
  }
  if (s.size() != 1) s.resize(1);
 
  const int& phase = m_phaseSIN(iter);
  const dg::Vector& leftRollCoupled = m_leftRollCoupledSIN(iter);
  const dg::Vector& leftRollDecoupled = m_leftRollDecoupledSIN(iter);
 
  if (phase > 0)
    s = leftRollDecoupled;
  else if (phase == 0)
    s = leftRollCoupled;
  else
    s.setZero();
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(leftPitch, dg::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute leftPitch before initialization!");
    return s;
  }
  if (s.size() != 1) s.resize(1);
 
  const int& phase = m_phaseSIN(iter);
  const dg::Vector& leftPitchCoupled = m_leftPitchCoupledSIN(iter);
  const dg::Vector& leftPitchDecoupled = m_leftPitchDecoupledSIN(iter);
 
  if (phase > 0)
    s = leftPitchDecoupled;
  else if (phase == 0)
    s = leftPitchCoupled;
  else
    s.setZero();
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(rightRoll, dg::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute rightRoll before initialization!");
    return s;
  }
  if (s.size() != 1) s.resize(1);
 
  const int& phase = m_phaseSIN(iter);
  const dg::Vector& rightRollCoupled = m_rightRollCoupledSIN(iter);
  const dg::Vector& rightRollDecoupled = m_rightRollDecoupledSIN(iter);
 
  if (phase < 0)
    s = rightRollDecoupled;
  else if (phase == 0)
    s = rightRollCoupled;
  else
    s.setZero();
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(rightPitch, dg::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG("Cannot compute rightPitch before initialization!");
    return s;
  }
  if (s.size() != 1) s.resize(1);
 
  const int& phase = m_phaseSIN(iter);
  const dg::Vector& rightPitchCoupled = m_rightPitchCoupledSIN(iter);
  const dg::Vector& rightPitchDecoupled = m_rightPitchDecoupledSIN(iter);
 
  if (phase < 0)
    s = rightPitchDecoupled;
  else if (phase == 0)
    s = rightPitchCoupled;
  else
    s.setZero();
 
  return s;
}
 
/* --- COMMANDS ---------------------------------------------------------- */
 
/* ------------------------------------------------------------------- */
/* --- ENTITY -------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
void AnkleJointSelector::display(std::ostream& os) const {
  os << "AnkleJointSelector " << getName();
  try {
    getProfiler().report_all(3, os);
  } catch (ExceptionSignal e) {
  }
}
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph