ft-wrist-calibration.hh

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/*
 * Copyright 2019
 * LAAS-CNRS
 * F. Bailly
 * T. Flayol
 * F. Risbourg
 */
 
#ifndef __sot_talos_balance_ft_wrist_calibration_H__
#define __sot_talos_balance_ft_wrist_calibration_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_talos_balance_ft_wrist_calibration_H__)
#define SOTFTWRISTCALIBRATION_EXPORT __declspec(dllexport)
#else
#define SOTFTWRISTCALIBRATION_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFTWRISTCALIBRATION_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 <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 <pinocchio/spatial/motion.hpp>
#include <pinocchio/spatial/se3.hpp>
#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 SOTFTWRISTCALIBRATION_EXPORT FtWristCalibration
    : public ::dynamicgraph::Entity {
  // typedef FtCalibration EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  FtWristCalibration(const std::string &name);
  void init(const std::string &robotRef);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(rightWristForceIn, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(leftWristForceIn, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(rightWeight, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(leftWeight, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(rightWristForceOut, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(leftWristForceOut, dynamicgraph::Vector);
 
  /* --- COMMANDS --- */
 
  void setRightHandConf(const double &rightW, const Vector &rightLeverArm);
  void setLeftHandConf(const double &leftW, const Vector &leftLeverArm);
 
  void calibrateWristSensor();
 
  void setRemoveWeight(const bool &removeWeight);
 
  void displayRobotUtil();
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;
 
  /* --- TYPEDEFS ---- */
  typedef Eigen::Matrix<double, 6, 1> Vector6d;
  typedef Eigen::Matrix<double, 3, 1> Vector3d;
 
 protected:
  RobotUtilShrPtr m_robot_util;
  pinocchio::Model m_model;
  pinocchio::Data *m_data;
  pinocchio::FrameIndex m_rightSensorId;
  pinocchio::FrameIndex m_leftSensorId;
  int m_rightCalibrationIter = -2;
  int m_leftCalibrationIter = -2;
  Vector6d m_right_FT_offset;
  Vector6d m_left_FT_offset;
  Vector6d m_right_FT_offset_calibration_sum;
  Vector6d m_left_FT_offset_calibration_sum;
  Vector6d m_right_weight_calibration_sum;
  Vector6d m_left_weight_calibration_sum;
  bool m_initSucceeded;
  Vector6d m_rightHandWeight;
  Vector6d m_leftHandWeight;
  Vector3d m_rightLeverArm;
  Vector3d m_leftLeverArm;
  bool m_removeWeight;
 
};  // class FtWristCalibration
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_ft_wrist_calibration_H__