| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2015, Andrea Del Prete, LAAS-CNRS |
| 3 |
|
|
* |
| 4 |
|
|
* This file is part of sot-torque-control. |
| 5 |
|
|
* sot-torque-control is free software: you can redistribute it and/or |
| 6 |
|
|
* modify it under the terms of the GNU Lesser General Public License |
| 7 |
|
|
* as published by the Free Software Foundation, either version 3 of |
| 8 |
|
|
* the License, or (at your option) any later version. |
| 9 |
|
|
* sot-torque-control is distributed in the hope that it will be |
| 10 |
|
|
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
| 11 |
|
|
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 12 |
|
|
* GNU Lesser General Public License for more details. You should |
| 13 |
|
|
* have received a copy of the GNU Lesser General Public License along |
| 14 |
|
|
* with sot-torque-control. If not, see <http://www.gnu.org/licenses/>. |
| 15 |
|
|
*/ |
| 16 |
|
|
|
| 17 |
|
|
#ifndef __sot_torque_control_parameter_server_H__ |
| 18 |
|
|
#define __sot_torque_control_parameter_server_H__ |
| 19 |
|
|
|
| 20 |
|
|
/* --------------------------------------------------------------------- */ |
| 21 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 22 |
|
|
/* --------------------------------------------------------------------- */ |
| 23 |
|
|
|
| 24 |
|
|
#if defined(WIN32) |
| 25 |
|
|
#if defined(__sot_torque_parameter_server_H__) |
| 26 |
|
|
#define SOTParameterServer_EXPORT __declspec(dllexport) |
| 27 |
|
|
#else |
| 28 |
|
|
#define SOTParameterServer_EXPORT __declspec(dllimport) |
| 29 |
|
|
#endif |
| 30 |
|
|
#else |
| 31 |
|
|
#define SOTParameterServer_EXPORT |
| 32 |
|
|
#endif |
| 33 |
|
|
|
| 34 |
|
|
/* --------------------------------------------------------------------- */ |
| 35 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 36 |
|
|
/* --------------------------------------------------------------------- */ |
| 37 |
|
|
|
| 38 |
|
|
#include <dynamic-graph/signal-helper.h> |
| 39 |
|
|
|
| 40 |
|
|
#include <map> |
| 41 |
|
|
#include <sot/core/matrix-geometry.hh> |
| 42 |
|
|
#include <sot/core/robot-utils.hh> |
| 43 |
|
|
|
| 44 |
|
|
#include "boost/assign.hpp" |
| 45 |
|
|
|
| 46 |
|
|
namespace dynamicgraph { |
| 47 |
|
|
namespace sot { |
| 48 |
|
|
|
| 49 |
|
|
/* --------------------------------------------------------------------- */ |
| 50 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 51 |
|
|
/* --------------------------------------------------------------------- */ |
| 52 |
|
|
|
| 53 |
|
|
/// Number of time step to transition from one ctrl mode to another |
| 54 |
|
|
#define CTRL_MODE_TRANSITION_TIME_STEP 1000.0 |
| 55 |
|
|
|
| 56 |
|
|
class SOTParameterServer_EXPORT ParameterServer |
| 57 |
|
|
: public ::dynamicgraph::Entity { |
| 58 |
|
|
typedef ParameterServer EntityClassName; |
| 59 |
|
✗ |
DYNAMIC_GRAPH_ENTITY_DECL(); |
| 60 |
|
|
|
| 61 |
|
|
public: |
| 62 |
|
|
/* --- CONSTRUCTOR ---- */ |
| 63 |
|
|
ParameterServer(const std::string &name); |
| 64 |
|
|
|
| 65 |
|
✗ |
~ParameterServer(){}; |
| 66 |
|
|
|
| 67 |
|
|
/// Initialize |
| 68 |
|
|
/// @param dt: control interval |
| 69 |
|
|
/// @param urdfFile: path to the URDF model of the robot |
| 70 |
|
|
void init(const double &dt, const std::string &urdfFile, |
| 71 |
|
|
const std::string &robotRef); |
| 72 |
|
|
|
| 73 |
|
|
/// Initialize |
| 74 |
|
|
/// @param dt: control interval provided by the device. |
| 75 |
|
|
/// The urdf model is found by reading /robot_description |
| 76 |
|
|
/// The robot name is found using the name inside robot_description |
| 77 |
|
|
void init_simple(const double &dt); |
| 78 |
|
|
/* --- SIGNALS --- */ |
| 79 |
|
|
|
| 80 |
|
|
/* --- COMMANDS --- */ |
| 81 |
|
|
|
| 82 |
|
|
/// Commands related to joint name and joint id |
| 83 |
|
|
void setNameToId(const std::string &jointName, const double &jointId); |
| 84 |
|
|
void setJointLimitsFromId(const double &jointId, const double &lq, |
| 85 |
|
|
const double &uq); |
| 86 |
|
|
|
| 87 |
|
|
/// Command related to ForceUtil |
| 88 |
|
|
void setForceLimitsFromId(const double &jointId, |
| 89 |
|
|
const dynamicgraph::Vector &lq, |
| 90 |
|
|
const dynamicgraph::Vector &uq); |
| 91 |
|
|
void setForceNameToForceId(const std::string &forceName, |
| 92 |
|
|
const double &forceId); |
| 93 |
|
|
|
| 94 |
|
|
/// \name Commands related to FootUtil |
| 95 |
|
|
/// @{ |
| 96 |
|
|
void setRightFootSoleXYZ(const dynamicgraph::Vector &); |
| 97 |
|
|
void setRightFootForceSensorXYZ(const dynamicgraph::Vector &); |
| 98 |
|
|
void setFootFrameName(const std::string &, const std::string &); |
| 99 |
|
|
void setHandFrameName(const std::string &, const std::string &); |
| 100 |
|
|
void setImuJointName(const std::string &); |
| 101 |
|
|
void displayRobotUtil(); |
| 102 |
|
|
/// @} |
| 103 |
|
|
/// \name Commands related to the model |
| 104 |
|
|
/// @{ |
| 105 |
|
|
template <typename Type> |
| 106 |
|
4 |
void setParameter(const std::string &ParameterName, |
| 107 |
|
|
const Type &ParameterValue) { |
| 108 |
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 2 times.
|
4 |
if (!m_initSucceeded) { |
| 109 |
|
✗ |
DYNAMIC_GRAPH_ENTITY_WARNING(*this) |
| 110 |
|
✗ |
<< "Cannot set parameter " << ParameterName << " to " |
| 111 |
|
✗ |
<< ParameterValue << " before initialization!\n"; |
| 112 |
|
✗ |
return; |
| 113 |
|
|
} |
| 114 |
|
|
|
| 115 |
|
4 |
m_robot_util->set_parameter<Type>(ParameterName, ParameterValue); |
| 116 |
|
|
} |
| 117 |
|
|
|
| 118 |
|
|
template <typename Type> |
| 119 |
|
2 |
Type getParameter(const std::string &ParameterName) { |
| 120 |
|
2 |
if (!m_initSucceeded) { |
| 121 |
|
✗ |
DYNAMIC_GRAPH_ENTITY_WARNING(*this) |
| 122 |
|
✗ |
<< "Cannot get parameter " << ParameterName |
| 123 |
|
✗ |
<< " before initialization!\n"; |
| 124 |
|
✗ |
throw std::runtime_error("Cannot get parameter before initialization"); |
| 125 |
|
|
} |
| 126 |
|
2 |
return m_robot_util->get_parameter<Type>(ParameterName); |
| 127 |
|
|
} |
| 128 |
|
|
|
| 129 |
|
|
/// @} |
| 130 |
|
|
/// Set the mapping between urdf and sot. |
| 131 |
|
|
void setJoints(const dynamicgraph::Vector &); |
| 132 |
|
|
|
| 133 |
|
|
/* --- ENTITY INHERITANCE --- */ |
| 134 |
|
|
virtual void display(std::ostream &os) const; |
| 135 |
|
|
|
| 136 |
|
|
protected: |
| 137 |
|
|
RobotUtilShrPtr m_robot_util; |
| 138 |
|
|
bool |
| 139 |
|
|
m_initSucceeded; /// true if the entity has been successfully initialized |
| 140 |
|
|
double m_dt; /// control loop time period |
| 141 |
|
|
bool m_emergency_stop_triggered; /// true if an emergency condition as been |
| 142 |
|
|
/// triggered either by an other entity, or |
| 143 |
|
|
/// by control limit violation |
| 144 |
|
|
bool m_is_first_iter; /// true at the first iteration, false otherwise |
| 145 |
|
|
int m_iter; |
| 146 |
|
|
double m_sleep_time; /// time to sleep at every iteration (to slow down |
| 147 |
|
|
/// simulation) |
| 148 |
|
|
|
| 149 |
|
|
bool convertJointNameToJointId(const std::string &name, unsigned int &id); |
| 150 |
|
|
bool isJointInRange(unsigned int id, double q); |
| 151 |
|
|
void updateJointCtrlModesOutputSignal(); |
| 152 |
|
|
|
| 153 |
|
|
}; // class ParameterServer |
| 154 |
|
|
|
| 155 |
|
|
} // namespace sot |
| 156 |
|
|
} // namespace dynamicgraph |
| 157 |
|
|
|
| 158 |
|
|
#endif // #ifndef __sot_torque_control_control_manager_H__ |
| 159 |
|
|
|