nd-trajectory-generator.hh

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/*
 * Copyright 2017,Thomas Flayols, LAAS-CNRS
 * File derived from sot-torque-control package available on
 * https://github.com/stack-of-tasks/sot-torque-control
 *
 * 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-torque-control 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_nd_trajectory_generator_H__
#define __sot_talos_balance_nd_trajectory_generator_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(nd_position_controller_EXPORTS)
#define SOTNDTRAJECTORYGENERATOR_EXPORT __declspec(dllexport)
#else
#define SOTNDTRAJECTORYGENERATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTNDTRAJECTORYGENERATOR_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <parametric-curves/constant.hpp>
#include <parametric-curves/infinite-const-acc.hpp>
#include <parametric-curves/infinite-sinusoid.hpp>
#include <parametric-curves/linear-chirp.hpp>
#include <parametric-curves/minimum-jerk.hpp>
#include <parametric-curves/spline.hpp>
#include <parametric-curves/text-file.hpp>
#include <sot/core/matrix-geometry.hh>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTNDTRAJECTORYGENERATOR_EXPORT NdTrajectoryGenerator
    : public ::dynamicgraph::Entity {
  typedef NdTrajectoryGenerator EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  NdTrajectoryGenerator(const std::string& name);
 
  void init(const double& dt, const unsigned int& n);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(initial_value, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(trigger, bool);
  DECLARE_SIGNAL(x, OUT, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector);
 
 protected:
  DECLARE_SIGNAL_OUT_FUNCTION(x, dynamicgraph::Vector);
 
 public:
  /* --- COMMANDS --- */
 
  void playTrajectoryFile(const std::string& fileName);
 
  void playSpline(const std::string& fileName);
 
  void setSpline(const std::string& filename, const double& timeToInitConf);
  void startSpline();
 
  void getValue(const int& id);
 
  void move(const int& id, const double& xFinal, const double& time);
 
  void set(const int& id, const double& xVal);
 
  void startSinusoid(const int& id, const double& xFinal, const double& time);
 
  // void startTriangle(const int& id, const double& xFinal, const double& time,
  // const double& Tacc);
 
  void startConstAcc(const int& id, const double& xFinal, const double& time);
 
  void startLinearChirp(const int& id, const double& xFinal, const double& f0,
                        const double& f1, const double& time);
 
  void stop(const int& id);
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
 protected:
  enum JTG_Status {
    JTG_STOP,
    JTG_SINUSOID,
    JTG_MIN_JERK,
    JTG_LIN_CHIRP,
    // JTG_TRIANGLE,
    JTG_CONST_ACC,
    JTG_TEXT_FILE,
    JTG_SPLINE
  };
 
  bool
      m_initSucceeded;  
  bool m_firstIter;     
  double m_dt;          
  double m_t;           
  unsigned int m_n;     
  unsigned int m_iterLast;  
  bool m_splineReady;       
 
  std::vector<JTG_Status> m_status;  
  std::vector<
      parametriccurves::AbstractCurve<double, dynamicgraph::sot::Vector1d>*>
      m_currentTrajGen;
  std::vector<parametriccurves::Constant<double, 1>*> m_noTrajGen;
  std::vector<parametriccurves::MinimumJerk<double, 1>*> m_minJerkTrajGen;
  std::vector<parametriccurves::InfiniteSinusoid<double, 1>*> m_sinTrajGen;
  std::vector<parametriccurves::LinearChirp<double, 1>*> m_linChirpTrajGen;
  // std::vector<parametriccurves::InfiniteTriangular<double,1>* >
  // m_triangleTrajGen;
  std::vector<parametriccurves::InfiniteConstAcc<double, 1>*> m_constAccTrajGen;
  parametriccurves::TextFile<double, Eigen::Dynamic>* m_textFileTrajGen;
  parametriccurves::Spline<double, Eigen::Dynamic>* m_splineTrajGen;
 
};  // class NdTrajectoryGenerator
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_nd_trajectory_generator_H__