GCC Code Coverage Report

Directory: ./
File: include/sot/core/gripper-control.hh
Date: 2024-12-13 12:22:33
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1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 #ifndef __SOT_SOTGRIPPERCONTROL_H__
11 #define __SOT_SOTGRIPPERCONTROL_H__
12
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16
17 /* Matrix */
18 #include <dynamic-graph/linear-algebra.h>
19
20 /* SOT */
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
23
24 #include <sot/core/flags.hh>
25
26 /* STD */
27 #include <string>
28
29 /* --------------------------------------------------------------------- */
30 /* --- API ------------------------------------------------------------- */
31 /* --------------------------------------------------------------------- */
32
33 #if defined(WIN32)
34 #if defined(gripper_control_EXPORTS)
35 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport)
36 #else
37 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport)
38 #endif
39 #else
40 #define SOTGRIPPERCONTROL_EXPORT
41 #endif
42
43 /* --------------------------------------------------------------------- */
44 /* --- CLASS ----------------------------------------------------------- */
45 /* --------------------------------------------------------------------- */
46
47 namespace dynamicgraph {
48 namespace sot {
49
50 /*! \brief The goal of this entity is to ensure that the maximal torque will not
51 * be exceeded during a grasping task.
52 * If the maximal torque is reached, then the current position of the gripper is
53 kept
54 *
55 */
56 class SOTGRIPPERCONTROL_EXPORT GripperControl {
57 protected:
58 double offset;
59 static const double OFFSET_DEFAULT;
60 //! \brief The multiplication
61 dynamicgraph::Vector factor;
62
63 public:
64 GripperControl(void);
65
66 //! \brief Computes the
67 // if the torque limit is reached, the normalized position is reduced by
68 // (offset)
69 void computeIncrement(const dynamicgraph::Vector &torques,
70 const dynamicgraph::Vector &torqueLimits,
71 const dynamicgraph::Vector &currentNormVel);
72
73 //! \brief
74 dynamicgraph::Vector &computeDesiredPosition(
75 const dynamicgraph::Vector &currentPos,
76 const dynamicgraph::Vector &desiredPos,
77 const dynamicgraph::Vector &torques,
78 const dynamicgraph::Vector &torqueLimits,
79 dynamicgraph::Vector &referencePos);
80
81 /*! \brief select only some of the values of the vector fullsize,
82 * based on the Flags vector.
83 */
84
85 static dynamicgraph::Vector &selector(const dynamicgraph::Vector &fullsize,
86 const Flags &selec,
87 dynamicgraph::Vector &desPos);
88 };
89
90 /* --------------------------------------------------------------------- */
91 /* --- PLUGIN ---------------------------------------------------------- */
92 /* --------------------------------------------------------------------- */
93
94 class SOTGRIPPERCONTROL_EXPORT GripperControlPlugin
95 : public dynamicgraph::Entity,
96 public GripperControl {
97 ✗ DYNAMIC_GRAPH_ENTITY_DECL();
98
99 public:
100 bool calibrationStarted;
101
102 public: /* --- CONSTRUCTION --- */
103 GripperControlPlugin(const std::string &name);
104 virtual ~GripperControlPlugin(void);
105
106 /* --- DOCUMENTATION --- */
107 virtual std::string getDocString() const;
108
109 public: /* --- SIGNAL --- */
110 /* --- INPUTS --- */
111 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionSIN;
112 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionDesSIN;
113 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueSIN;
114 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueLimitSIN;
115 dynamicgraph::SignalPtr<Flags, int> selectionSIN;
116
117 /* --- INTERMEDIARY --- */
118 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionFullSizeSIN;
119 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
120 positionReduceSOUT;
121 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueFullSizeSIN;
122 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> torqueReduceSOUT;
123 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueLimitFullSizeSIN;
124 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
125 torqueLimitReduceSOUT;
126
127 /* --- OUTPUTS --- */
128 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
129 desiredPositionSOUT;
130
131 public: /* --- COMMANDLINE --- */
132 void initCommands();
133
134 void setOffset(const double &value);
135 };
136
137 } /* namespace sot */
138 } /* namespace dynamicgraph */
139
140 #endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__
141