current-controller.hh

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/*
 * Copyright 2015, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_current_controller_H__
#define __sot_torque_control_current_controller_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_torque_control_current_controller_H__)
#define SOTCURRENTCONTROLLER_EXPORT __declspec(dllexport)
#else
#define SOTCURRENTCONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTCURRENTCONTROLLER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
// include pinocchio first
 
#include <dynamic-graph/signal-helper.h>
 
#include <map>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
#include <tsid/robots/robot-wrapper.hpp>
 
#include "boost/assign.hpp"
 
namespace dynamicgraph {
namespace sot {
namespace torque_control {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTCURRENTCONTROLLER_EXPORT CurrentController
    : public ::dynamicgraph::Entity {
  typedef CurrentController EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  CurrentController(const std::string& name);
 
  void init(const double& dt, const std::string& robotRef,
            const unsigned int& currentOffsetIters);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(i_des, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(i_measured, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(i_sens_gains,
                    dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      kp_current, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      ki_current, dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_IN(
      i_max, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      u_max,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(u_saturation,
                    dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_IN(
      in_out_gain,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      dq, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      bemf_factor,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      percentage_bemf_compensation,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      dead_zone_offsets,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      percentage_dead_zone_compensation,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      i_max_dead_zone_compensation,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(i_sensor_offsets_low_level,
                    dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      i_sensor_offsets_real_in,
      dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(
      u_safe,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(i_real,
                     dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(
      i_low_level,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(
      i_sensor_offsets_real_out,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(dead_zone_compensation,
                     dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(i_errors,
                     dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(
      i_errors_ll_wo_bemf,
      dynamicgraph::Vector);  
 
  /* --- COMMANDS --- */
 
  void reset_integral();
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
  void sendMsg(const std::string& msg, MsgType t = MSG_TYPE_INFO,
               const char* = "", int = 0) {
    logger_.stream(t) << ("[CurrentController-" + name + "] " + msg) << '\n';
  }
 
 protected:
  RobotUtilShrPtr m_robot_util;
  bool
      m_initSucceeded;  
  bool m_emergency_stop_triggered;
  double m_dt;           
  bool m_is_first_iter;  
  int m_iter;
  double m_sleep_time;  
 
  unsigned int m_currentOffsetIters;
  dynamicgraph::Vector m_i_offsets_real;
  dynamicgraph::Vector m_i_err_integr;
 
  dynamicgraph::Vector m_dz_coeff;
 
  dynamicgraph::Vector m_avg_i_err_pos;
  dynamicgraph::Vector m_avg_i_err_neg;
 
};  // class CurrentController
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_current_controller_H__