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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_SOTGRIPPERCONTROL_H__ |
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#define __SOT_SOTGRIPPERCONTROL_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/flags.hh> |
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/* STD */ |
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#include <string> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(gripper_control_EXPORTS) |
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#define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport) |
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#else |
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#define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTGRIPPERCONTROL_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/*! \brief The goal of this entity is to ensure that the maximal torque will not |
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* be exceeded during a grasping task. |
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* If the maximal torque is reached, then the current position of the gripper is |
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kept |
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* |
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*/ |
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class SOTGRIPPERCONTROL_EXPORT GripperControl { |
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protected: |
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double offset; |
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static const double OFFSET_DEFAULT; |
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//! \brief The multiplication |
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dynamicgraph::Vector factor; |
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public: |
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GripperControl(void); |
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//! \brief Computes the |
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// if the torque limit is reached, the normalized position is reduced by |
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// (offset) |
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void computeIncrement(const dynamicgraph::Vector &torques, |
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const dynamicgraph::Vector &torqueLimits, |
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const dynamicgraph::Vector ¤tNormVel); |
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//! \brief |
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dynamicgraph::Vector &computeDesiredPosition( |
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const dynamicgraph::Vector ¤tPos, |
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const dynamicgraph::Vector &desiredPos, |
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const dynamicgraph::Vector &torques, |
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const dynamicgraph::Vector &torqueLimits, |
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dynamicgraph::Vector &referencePos); |
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/*! \brief select only some of the values of the vector fullsize, |
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* based on the Flags vector. |
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*/ |
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static dynamicgraph::Vector &selector(const dynamicgraph::Vector &fullsize, |
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const Flags &selec, |
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dynamicgraph::Vector &desPos); |
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}; |
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/* --------------------------------------------------------------------- */ |
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/* --- PLUGIN ---------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTGRIPPERCONTROL_EXPORT GripperControlPlugin |
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: public dynamicgraph::Entity, |
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public GripperControl { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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bool calibrationStarted; |
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public: /* --- CONSTRUCTION --- */ |
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GripperControlPlugin(const std::string &name); |
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virtual ~GripperControlPlugin(void); |
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/* --- DOCUMENTATION --- */ |
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virtual std::string getDocString() const; |
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public: /* --- SIGNAL --- */ |
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/* --- INPUTS --- */ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionDesSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueLimitSIN; |
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dynamicgraph::SignalPtr<Flags, int> selectionSIN; |
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/* --- INTERMEDIARY --- */ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionFullSizeSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> |
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positionReduceSOUT; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueFullSizeSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> torqueReduceSOUT; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> torqueLimitFullSizeSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> |
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torqueLimitReduceSOUT; |
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/* --- OUTPUTS --- */ |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> |
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desiredPositionSOUT; |
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public: /* --- COMMANDLINE --- */ |
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void initCommands(); |
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void setOffset(const double &value); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__ |