hip-flexibility-compensation.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_hip_flexibility_compensation_H__
#define __sot_talos_balance_hip_flexibility_compensation_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(hip_flexibility_compensation_EXPORTS)
#define HIPFLEXIBILITYCOMPENSATION_EXPORT __declspec(dllexport)
#else
#define HIPFLEXIBILITYCOMPENSATION_EXPORT __declspec(dllimport)
#endif
#else
#define HIPFLEXIBILITYCOMPENSATION_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
// include pinocchio first
 
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <sot/core/robot-utils.hh>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class HIPFLEXIBILITYCOMPENSATION_EXPORT HipFlexibilityCompensation
    : public ::dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  HipFlexibilityCompensation(const std::string& name);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(phase, int);
 
  DECLARE_SIGNAL_IN(q_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(tau, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(K_l, double);
  DECLARE_SIGNAL_IN(K_r, double);
  // DECLARE_SIGNAL_IN(K_d, double);
 
  DECLARE_SIGNAL_OUT(tau_filt, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(delta_q, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(q_cmd, dynamicgraph::Vector);
 
  /* --- COMMANDS --- */
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
  void init(const double& dt, const std::string& robotName);
  void setTorqueLowPassFilterFrequency(const double& frequency);
  void setAngularSaturation(const double& saturation);
  void setRateLimiter(const double& rate);
  dynamicgraph::Vector lowPassFilter(const double& frequency,
                                     const dynamicgraph::Vector& signal,
                                     dynamicgraph::Vector& previous_signal);
  void rateLimiter(const dynamicgraph::Vector& signal,
                   dynamicgraph::Vector& previous_signal,
                   dynamicgraph::Vector& output);
 
 protected:
  bool
      m_initSucceeded;  
  // time step of the robot
  double m_dt;
  double m_torqueLowPassFilterFrequency;
  double m_delta_q_saturation;
  double m_rate_limiter;
  dynamicgraph::Vector m_previous_delta_q;
  dynamicgraph::Vector m_previous_tau;
  dynamicgraph::Vector m_limitedSignal;
 
  RobotUtilShrPtr m_robot_util;
 
};  // class HipFlexibilityCompensation
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_hip_flexibility_compensation_H__