parameter-server.hh

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/*
 * Copyright 2015, Andrea Del Prete, LAAS-CNRS
 *
 * This file is part of sot-torque-control.
 * sot-torque-control 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.
 * sot-torque-control 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 Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with sot-torque-control.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef __sot_torque_control_parameter_server_H__
#define __sot_torque_control_parameter_server_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_torque_parameter_server_H__)
#define SOTParameterServer_EXPORT __declspec(dllexport)
#else
#define SOTParameterServer_EXPORT __declspec(dllimport)
#endif
#else
#define SOTParameterServer_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#define CTRL_MODE_TRANSITION_TIME_STEP 1000.0
 
class SOTParameterServer_EXPORT ParameterServer
    : public ::dynamicgraph::Entity {
  typedef ParameterServer EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  ParameterServer(const std::string &name);
 
  ~ParameterServer(){};
 
  void init(const double &dt, const std::string &urdfFile,
            const std::string &robotRef);
 
  void init_simple(const double &dt);
  /* --- SIGNALS --- */
 
  /* --- COMMANDS --- */
 
  void setNameToId(const std::string &jointName, const double &jointId);
  void setJointLimitsFromId(const double &jointId, const double &lq,
                            const double &uq);
 
  void setForceLimitsFromId(const double &jointId,
                            const dynamicgraph::Vector &lq,
                            const dynamicgraph::Vector &uq);
  void setForceNameToForceId(const std::string &forceName,
                             const double &forceId);
 
  void setRightFootSoleXYZ(const dynamicgraph::Vector &);
  void setRightFootForceSensorXYZ(const dynamicgraph::Vector &);
  void setFootFrameName(const std::string &, const std::string &);
  void setHandFrameName(const std::string &, const std::string &);
  void setImuJointName(const std::string &);
  void displayRobotUtil();
  template <typename Type>
  void setParameter(const std::string &ParameterName,
                    const Type &ParameterValue) {
    if (!m_initSucceeded) {
      DYNAMIC_GRAPH_ENTITY_WARNING(*this)
          << "Cannot set parameter " << ParameterName << " to "
          << ParameterValue << " before initialization!\n";
      return;
    }
 
    m_robot_util->set_parameter<Type>(ParameterName, ParameterValue);
  }
 
  template <typename Type>
  Type getParameter(const std::string &ParameterName) {
    if (!m_initSucceeded) {
      DYNAMIC_GRAPH_ENTITY_WARNING(*this)
          << "Cannot get parameter " << ParameterName
          << " before initialization!\n";
      throw std::runtime_error("Cannot get parameter before initialization");
    }
    return m_robot_util->get_parameter<Type>(ParameterName);
  }
 
  void setJoints(const dynamicgraph::Vector &);
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;
 
 protected:
  RobotUtilShrPtr m_robot_util;
  bool
      m_initSucceeded;  
  double m_dt;          
  bool m_emergency_stop_triggered;  
  bool m_is_first_iter;  
  int m_iter;
  double m_sleep_time;  
 
  bool convertJointNameToJointId(const std::string &name, unsigned int &id);
  bool isJointInRange(unsigned int id, double q);
  void updateJointCtrlModesOutputSignal();
 
};  // class ParameterServer
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_control_manager_H__