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/* |
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* Copyright 2017, Thomas Flayols, LAAS-CNRS |
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* |
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*/ |
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#ifndef __sot_torque_control_free_flyer_locator_H__ |
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#define __sot_torque_control_free_flyer_locator_H__ |
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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(free_flyer_locator_EXPORTS) |
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#define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFREEFLYERLOCATOR_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <map> |
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#include "boost/assign.hpp" |
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/* Pinocchio */ |
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#include <pinocchio/algorithm/kinematics.hpp> |
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#include <pinocchio/multibody/model.hpp> |
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#include <pinocchio/parsers/urdf.hpp> |
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//~ #include <pinocchio/algorithm/rnea.hpp> |
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//~ #include "pinocchio/algorithm/crba.hpp" |
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#include <dynamic-graph/linear-algebra.h> |
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/* HELPER */ |
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#include <dynamic-graph/signal-helper.h> |
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#include <sot/core/matrix-geometry.hh> |
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#include <sot/core/robot-utils.hh> |
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#include <sot/torque_control/utils/vector-conversions.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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namespace torque_control { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTFREEFLYERLOCATOR_EXPORT FreeFlyerLocator |
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: public ::dynamicgraph::Entity { |
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typedef FreeFlyerLocator EntityClassName; |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/* --- CONSTRUCTOR ---- */ |
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FreeFlyerLocator(const std::string& name); |
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~FreeFlyerLocator(); |
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void init(const std::string& robotRef); |
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/* --- SIGNALS --- */ |
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DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector); |
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DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector); |
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DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector); |
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/// freeflyer position with angle axis format |
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DECLARE_SIGNAL_OUT(freeflyer_aa, dynamicgraph::Vector); |
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/// base6d_encoders with base6d in RPY |
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DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector); |
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/// n+6 robot velocities |
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DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector); |
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/* --- COMMANDS --- */ |
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void displayRobotUtil(); |
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/* --- ENTITY INHERITANCE --- */ |
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virtual void display(std::ostream& os) const; |
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void sendMsg(const std::string& msg, MsgType t = MSG_TYPE_INFO, |
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const char* = "", int = 0) { |
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logger_.stream(t) << ("[FreeFlyerLocator-" + name + "] " + msg) << '\n'; |
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} |
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protected: |
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bool |
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m_initSucceeded; /// true if the entity has been successfully initialized |
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pinocchio::Model* m_model; /// Pinocchio robot model |
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pinocchio::Data* m_data; /// Pinocchio robot data |
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pinocchio::SE3 m_Mff; /// SE3 Transform from center of feet to base |
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pinocchio::SE3 m_w_M_lf; |
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pinocchio::SE3 m_w_M_rf; |
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long unsigned int m_right_foot_id; |
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long unsigned int m_left_foot_id; |
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Eigen::VectorXd |
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m_q_pin; /// robot configuration according to pinocchio convention |
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Eigen::VectorXd m_q_sot; /// robot configuration according to SoT convention |
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Eigen::VectorXd |
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m_v_pin; /// robot velocities according to pinocchio convention |
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Eigen::VectorXd m_v_sot; /// robot velocities according to SoT convention |
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RobotUtilShrPtr m_robot_util; |
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}; // class FreeFlyerLocator |
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} // namespace torque_control |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __sot_torque_control_free_flyer_locator_H__ |