patterngeneratorinterface.hh

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/*
 * Copyright 2007, 2008, 2009, 2010,
 *
 * Andrei     Herdt
 * Fumio      Kanehiro
 * Francois   Keith
 * Alireza    Nakhaei
 * Olivier    Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl 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.
 *
 * walkGenJrl 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 General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
#ifndef _PATTERN_GENERATOR_INTERFACE_H_
#define _PATTERN_GENERATOR_INTERFACE_H_
 
#include <deque>
#include <jrl/walkgen/pgtypes.hh>
#include <jrl/walkgen/pinocchiorobot.hh>
 
namespace PatternGeneratorJRL {
 
class WALK_GEN_JRL_EXPORT PatternGeneratorInterface {
 public:
  // overload the new[] eigen operator
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  PatternGeneratorInterface(PinocchioRobot *){};
 
  virtual ~PatternGeneratorInterface(){};
 
  virtual void AddStepInStack(double dx, double dy, double theta) = 0;
 
  virtual void CommonInitializationOfWalking(
      COMState &lStartingCOMState, Eigen::Vector3d &lStartingZMPPosition,
      Eigen::VectorXd &BodyAnglesIni, FootAbsolutePosition &InitLeftFootAbsPos,
      FootAbsolutePosition &InitRightFootAbsPos,
      std::deque<RelativeFootPosition> &lRelativeFootPositions,
      std::vector<double> &lCurrentJointValues, bool ClearStepStackHandler) = 0;
 
  virtual bool RunOneStepOfTheControlLoop(Eigen::VectorXd &CurrentConfiguration,
                                          Eigen::VectorXd &CurrentVelocity,
                                          Eigen::VectorXd &CurrentAcceleration,
                                          Eigen::VectorXd &ZMPTarget) = 0;
 
  virtual bool RunOneStepOfTheControlLoop(
      Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity,
      Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget,
      COMPosition &COMPosition, FootAbsolutePosition &LeftFootPosition,
      FootAbsolutePosition &RightFootPosition) = 0;
 
  virtual bool RunOneStepOfTheControlLoop(
      Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity,
      Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget,
      COMState &COMState, FootAbsolutePosition &LeftFootPosition,
      FootAbsolutePosition &RightFootPosition) = 0;
 
  virtual bool RunOneStepOfTheControlLoop(
      FootAbsolutePosition &LeftFootPosition,
      FootAbsolutePosition &RightFootPosition, ZMPPosition &ZMPRefPos,
      COMPosition &COMRefPos) = 0;
 
  virtual bool RunOneStepOfTheControlLoop(
      ControlLoopOneStepArgs &aControlLoopOneStepArgs) = 0;
  virtual void SetCurrentJointValues(Eigen::VectorXd &lCurrentJointValues) = 0;
 
  virtual int GetWalkMode() const = 0;
 
  virtual void GetLegJointVelocity(Eigen::VectorXd &dqr,
                                   Eigen::VectorXd &dql) const = 0;
 
  virtual void ReadSequenceOfSteps(std::istringstream &strm) = 0;
 
  virtual void StartOnLineStepSequencing() = 0;
 
  virtual void StopOnLineStepSequencing() = 0;
 
  virtual void AddOnLineStep(double X, double Y, double Theta) = 0;
 
  virtual int ChangeOnLineStep(double Time,
                               FootAbsolutePosition &aFootAbsolutePosition,
                               double &newtime) = 0;
 
  virtual void ChangeOnLineStep(std::istringstream &strm, double &newtime) = 0;
 
  virtual void UpdateAbsolutePosition(bool UpdateAbsMotionOrNot) = 0;
 
  virtual void getWaistPositionAndOrientation(double TQ[7],
                                              double &Orientation) const = 0;
 
  virtual void setWaistPositionAndOrientation(double TQ[7]) = 0;
 
  virtual void getWaistVelocity(double &dx, double &dy,
                                double &omega) const = 0;
 
  virtual void getWaistPositionMatrix(Eigen::Matrix4d &lWaistAbsPos) const = 0;
 
  virtual void setZMPInitialPoint(Eigen::Vector3d &lZMPInitialPoint) = 0;
 
  virtual void getZMPInitialPoint(Eigen::Vector3d &lZMPInitialPoint) const = 0;
 
  virtual int ParseCmd(std::istringstream &strm) = 0;
 
  virtual void EvaluateStartingState(
      COMState &lStartingCOMState, Eigen::Vector3d &lStartingZMPPosition,
      Eigen::Matrix<double, 6, 1> &lStartingWaistPose,
      FootAbsolutePosition &InitLeftFootAbsPos,
      FootAbsolutePosition &InitRightFootAbsPos) = 0;
 
  virtual void setVelocityReference(double x, double y, double yaw) = 0;
  virtual void setCoMPerturbationForce(double x, double y) = 0;
};
 
WALK_GEN_JRL_EXPORT PatternGeneratorInterface *patternGeneratorInterfaceFactory(
    PinocchioRobot *);
}  // namespace PatternGeneratorJRL
 
#endif /* _PATTERN_GENERATOR_INTERFACE_H_ */