GCC Code Coverage Report

Directory: ./
File: src/control/admittance-control-op-point.cpp
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 75 96 78.1%
Branches: 169 404 41.8%
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1 /*
2 * Copyright 2019
3 *
4 * LAAS-CNRS
5 *
6 * Noëlie Ramuzat
7 * This file is part of sot-core.
8 * See license file.
9 */
10
11 #include "sot/core/admittance-control-op-point.hh"
12
13 #include <dynamic-graph/all-commands.h>
14 #include <dynamic-graph/factory.h>
15
16 #include <sot/core/debug.hh>
17 #include <sot/core/stop-watch.hh>
18
19 namespace dynamicgraph {
20 namespace sot {
21 namespace core {
22 namespace dg = ::dynamicgraph;
23 using namespace dg;
24 using namespace pinocchio;
25 using namespace dg::command;
26
27 #define PROFILE_ADMITTANCECONTROLOPPOINT_WFORCE_COMPUTATION \
28 "AdmittanceControlOpPoint: w_force computation "
29
30 #define PROFILE_ADMITTANCECONTROLOPPOINT_WDQ_COMPUTATION \
31 "AdmittanceControlOpPoint: w_dq computation "
32
33 #define PROFILE_ADMITTANCECONTROLOPPOINT_DQ_COMPUTATION \
34 "AdmittanceControlOpPoint: dq computation "
35
36 #define INPUT_SIGNALS \
37 m_KpSIN << m_KdSIN << m_dqSaturationSIN << m_forceSIN << m_w_forceDesSIN \
38 << m_opPoseSIN << m_sensorPoseSIN
39
40 #define INNER_SIGNALS m_w_forceSINNER << m_w_dqSINNER
41
42 #define OUTPUT_SIGNALS m_dqSOUT
43
44 /// Define EntityClassName here rather than in the header file
45 /// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
46 typedef AdmittanceControlOpPoint EntityClassName;
47
48 /* --- DG FACTORY ---------------------------------------------------- */
49 ✗ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AdmittanceControlOpPoint,
50 "AdmittanceControlOpPoint");
51
52 /* ------------------------------------------------------------------- */
53 /* --- CONSTRUCTION -------------------------------------------------- */
54 /* ------------------------------------------------------------------- */
55 1 AdmittanceControlOpPoint::AdmittanceControlOpPoint(const std::string &name)
56 : Entity(name),
57
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 1 CONSTRUCT_SIGNAL_IN(Kp, dynamicgraph::Vector),
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 1 CONSTRUCT_SIGNAL_IN(Kd, dynamicgraph::Vector),
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 1 CONSTRUCT_SIGNAL_IN(dqSaturation, dynamicgraph::Vector),
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 1 CONSTRUCT_SIGNAL_IN(force, dynamicgraph::Vector),
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 1 CONSTRUCT_SIGNAL_IN(w_forceDes, dynamicgraph::Vector),
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 1 CONSTRUCT_SIGNAL_IN(opPose, dynamicgraph::sot::MatrixHomogeneous),
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 1 CONSTRUCT_SIGNAL_IN(sensorPose, dynamicgraph::sot::MatrixHomogeneous),
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 1 CONSTRUCT_SIGNAL_INNER(w_force, dynamicgraph::Vector, m_forceSIN),
65
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 1 CONSTRUCT_SIGNAL_INNER(w_dq, dynamicgraph::Vector,
66 INPUT_SIGNALS << m_w_forceSINNER),
67
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 1 CONSTRUCT_SIGNAL_OUT(dq, dynamicgraph::Vector, m_w_dqSINNER),
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 2 m_initSucceeded(false) {
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 1 Entity::signalRegistration(INPUT_SIGNALS << INNER_SIGNALS << OUTPUT_SIGNALS);
70
71 /* Commands. */
72
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 1 addCommand("init", makeCommandVoid1(*this, &AdmittanceControlOpPoint::init,
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 2 docCommandVoid1("Initialize the entity.",
74 "time step")));
75
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 1 addCommand("resetDq",
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 1 makeCommandVoid0(*this, &AdmittanceControlOpPoint::resetDq,
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 2 docCommandVoid0("resetDq")));
78 1 }
79
80 1 void AdmittanceControlOpPoint::init(const double &dt) {
81
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 1 if (!m_dqSaturationSIN.isPlugged())
82 ✗ return SEND_MSG("Init failed: signal dqSaturation is not plugged",
83 MSG_TYPE_ERROR);
84
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 1 if (!m_KpSIN.isPlugged())
85 ✗ return SEND_MSG("Init failed: signal Kp is not plugged", MSG_TYPE_ERROR);
86
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 1 if (!m_KdSIN.isPlugged())
87 ✗ return SEND_MSG("Init failed: signal Kd is not plugged", MSG_TYPE_ERROR);
88
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 1 if (!m_forceSIN.isPlugged())
89 ✗ return SEND_MSG("Init failed: signal force is not plugged", MSG_TYPE_ERROR);
90
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 1 if (!m_w_forceDesSIN.isPlugged())
91 ✗ return SEND_MSG("Init failed: signal w_forceDes is not plugged",
92 MSG_TYPE_ERROR);
93
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 1 if (!m_opPoseSIN.isPlugged())
94 ✗ return SEND_MSG("Init failed: signal opPose is not plugged",
95 MSG_TYPE_ERROR);
96
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 1 if (!m_sensorPoseSIN.isPlugged())
97 ✗ return SEND_MSG("Init failed: signal sensorPose is not plugged",
98 MSG_TYPE_ERROR);
99
100 1 m_n = 6;
101 1 m_dt = dt;
102 1 m_w_dq.setZero(m_n);
103 1 m_initSucceeded = true;
104 }
105
106 ✗ void AdmittanceControlOpPoint::resetDq() {
107 ✗ m_w_dq.setZero(m_n);
108 ✗ return;
109 }
110
111 /* ------------------------------------------------------------------- */
112 /* --- SIGNALS ------------------------------------------------------- */
113 /* ------------------------------------------------------------------- */
114 1 DEFINE_SIGNAL_INNER_FUNCTION(w_force, dynamicgraph::Vector) {
115
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 1 if (!m_initSucceeded) {
116 ✗ SEND_WARNING_STREAM_MSG(
117 "Cannot compute signal w_force before initialization!");
118 ✗ return s;
119 }
120
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 1 if (s.size() != 6) s.resize(6);
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 1 getProfiler().start(PROFILE_ADMITTANCECONTROLOPPOINT_WFORCE_COMPUTATION);
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 1 const Vector &force = m_forceSIN(iter);
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 1 const MatrixHomogeneous &sensorPose = m_sensorPoseSIN(iter);
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 1 assert(force.size() == m_n && "Unexpected size of signal force");
127 pinocchio::SE3 sensorPlacement(
128
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 1 sensorPose.matrix()); // homogeneous matrix to SE3
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 1 s = sensorPlacement.act(pinocchio::Force(force)).toVector();
130
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 1 getProfiler().stop(PROFILE_ADMITTANCECONTROLOPPOINT_WFORCE_COMPUTATION);
132
133 1 return s;
134 }
135
136 1 DEFINE_SIGNAL_INNER_FUNCTION(w_dq, dynamicgraph::Vector) {
137
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 1 if (!m_initSucceeded) {
138 ✗ SEND_WARNING_STREAM_MSG(
139 "Cannot compute signal w_dq before initialization!");
140 ✗ return s;
141 }
142
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 1 if (s.size() != 6) s.resize(6);
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 1 getProfiler().start(PROFILE_ADMITTANCECONTROLOPPOINT_WDQ_COMPUTATION);
145
146 1 const Vector &w_forceDes = m_w_forceDesSIN(iter);
147 1 const Vector &w_force = m_w_forceSINNER(iter);
148 1 const Vector &Kp = m_KpSIN(iter);
149 1 const Vector &Kd = m_KdSIN(iter);
150 1 const Vector &dqSaturation = m_dqSaturationSIN(iter);
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 1 assert(w_force.size() == m_n && "Unexpected size of signal force");
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 1 assert(w_forceDes.size() == m_n && "Unexpected size of signal w_forceDes");
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 1 assert(Kp.size() == m_n && "Unexpected size of signal Kp");
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 1 assert(Kd.size() == m_n && "Unexpected size of signal Kd");
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 1 assert(dqSaturation.size() == m_n &&
156 "Unexpected size of signal dqSaturation");
157
158
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 1 m_w_dq = m_w_dq + m_dt * (Kp.cwiseProduct(w_forceDes - w_force)) -
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 2 Kd.cwiseProduct(m_w_dq);
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 7 for (int i = 0; i < m_n; i++) {
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 6 if (m_w_dq[i] > dqSaturation[i]) m_w_dq[i] = dqSaturation[i];
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 6 if (m_w_dq[i] < -dqSaturation[i]) m_w_dq[i] = -dqSaturation[i];
164 }
165
166 1 s = m_w_dq;
167
168
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 1 getProfiler().stop(PROFILE_ADMITTANCECONTROLOPPOINT_WDQ_COMPUTATION);
169
170 1 return s;
171 }
172
173 1 DEFINE_SIGNAL_OUT_FUNCTION(dq, dynamicgraph::Vector) {
174
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 1 if (!m_initSucceeded) {
175 ✗ SEND_WARNING_STREAM_MSG("Cannot compute signal dq before initialization!");
176 ✗ return s;
177 }
178
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 1 if (s.size() != 6) s.resize(6);
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 1 getProfiler().start(PROFILE_ADMITTANCECONTROLOPPOINT_DQ_COMPUTATION);
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 1 const Vector &w_dq = m_w_dqSINNER(iter);
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 1 const MatrixHomogeneous &opPose = m_opPoseSIN(iter);
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 1 assert(w_dq.size() == m_n && "Unexpected size of signal w_dq");
185 pinocchio::SE3 opPointPlacement(
186
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 1 opPose.matrix()); // homogeneous matrix to SE3
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 1 s = opPointPlacement.actInv(pinocchio::Motion(w_dq)).toVector();
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 1 getProfiler().stop(PROFILE_ADMITTANCECONTROLOPPOINT_DQ_COMPUTATION);
190
191 1 return s;
192 }
193
194 /* --- COMMANDS ---------------------------------------------------------- */
195
196 /* ------------------------------------------------------------------- */
197 /* --- ENTITY -------------------------------------------------------- */
198 /* ------------------------------------------------------------------- */
199 ✗ void AdmittanceControlOpPoint::display(std::ostream &os) const {
200 ✗ os << "AdmittanceControlOpPoint " << getName();
201 try {
202 ✗ getProfiler().report_all(3, os);
203 ✗ } catch (ExceptionSignal e) {
204 }
205 }
206 } // namespace core
207 } // namespace sot
208 } // namespace dynamicgraph
209