admittance-controller.hh

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/*
 * Copyright 2014, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_admittance_controller_H__
#define __sot_torque_control_admittance_controller_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(sot_admittance_controller_EXPORTS)
#define SOTADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
#else
#define SOTADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTADMITTANCECONTROLLER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <map>
#include <tsid/robots/robot-wrapper.hpp>
#include <tsid/tasks/task-se3-equality.hpp>
 
#include "boost/assign.hpp"
 
/* HELPER */
#include <dynamic-graph/signal-helper.h>
 
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
 
namespace dynamicgraph {
namespace sot {
namespace torque_control {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTADMITTANCECONTROLLER_EXPORT AdmittanceController
    : public ::dynamicgraph::Entity {
  typedef AdmittanceController EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  AdmittanceController(const std::string& name);
 
  void init(const double& dt, const std::string& robotRef);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(encoders, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(jointsVelocities, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_force, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(ki_force, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(ki_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(force_integral_saturation, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(force_integral_deadzone, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(fRightFootRef,
                    dynamicgraph::Vector);                
  DECLARE_SIGNAL_IN(fLeftFootRef, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(fRightFoot, dynamicgraph::Vector);    
  DECLARE_SIGNAL_IN(fLeftFoot, dynamicgraph::Vector);     
  DECLARE_SIGNAL_IN(fRightFootFiltered,
                    dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(fLeftFootFiltered,
                    dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      controlledJoints,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      damping,
      dynamicgraph::Vector);  
 
  //        DECLARE_SIGNAL_IN(fRightHandRef,    dynamicgraph::Vector); /// 6d
  //        reference force DECLARE_SIGNAL_IN(fLeftHandRef,
  //        dynamicgraph::Vector); /// 6d reference force
  //        DECLARE_SIGNAL_IN(fRightHand,       dynamicgraph::Vector); /// 6d
  //        estimated force DECLARE_SIGNAL_IN(fLeftHand, dynamicgraph::Vector);
  //        /// 6d estimated force
 
  DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);  
  // DEBUG SIGNALS
  DECLARE_SIGNAL_OUT(dqDes,
                     dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(vDesRightFoot, dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(vDesLeftFoot, dynamicgraph::Vector);   
  //        DECLARE_SIGNAL_OUT(fRightHandError,   dynamicgraph::Vector);  ///
  //        fRef-f DECLARE_SIGNAL_OUT(fLeftHandError,    dynamicgraph::Vector);
  //        /// fRef-f
 
  /* --- COMMANDS --- */
  /* --- 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) << ("[" + name + "] " + msg) << '\n';
  }
 
 protected:
  Eigen::VectorXd m_u;  
  bool m_firstIter;
  bool
      m_initSucceeded;  
  bool m_useJacobianTranspose;  
  double m_dt;                  
  int m_nj;
 
  int m_frame_id_rf;  
  int m_frame_id_lf;  
 
  tsid::robots::RobotWrapper* m_robot;
  pinocchio::Data* m_data;
 
  tsid::math::Vector6 m_f_RF;  
  tsid::math::Vector6 m_f_LF;  
  tsid::math::Vector m_q_urdf;
  tsid::math::Vector m_v_urdf;
 
  tsid::math::Vector m_dq_des_urdf;
  tsid::math::Vector m_dqErrIntegral;  
  //        tsid::math::Vector  m_dqDesIntegral;    /// integral of the desired
  //        joint velocities
  tsid::math::Vector
      m_dq_fd;  
  tsid::math::Vector m_qPrev;  
 
  typedef pinocchio::Data::Matrix6x Matrix6x;
  Matrix6x m_J_RF;
  Matrix6x m_J_LF;
  Eigen::ColPivHouseholderQR<Matrix6x> m_J_RF_QR;
  Eigen::ColPivHouseholderQR<Matrix6x> m_J_LF_QR;
  tsid::math::Vector6 m_v_RF_int;
  tsid::math::Vector6 m_v_LF_int;
 
  RobotUtilShrPtr m_robot_util;
 
  //        tsid::math::Vector3 m_zmp_des_LF;          /// 3d desired zmp left
  //        foot tsid::math::Vector3 m_zmp_des_RF;          /// 3d desired zmp
  //        left foot tsid::math::Vector3 m_zmp_des_LF_local;    /// 3d desired
  //        zmp left foot expressed in local frame tsid::math::Vector3
  //        m_zmp_des_RF_local;    /// 3d desired zmp left foot expressed in
  //        local frame tsid::math::Vector3 m_zmp_des;             /// 3d
  //        desired global zmp tsid::math::Vector3 m_zmp_LF;              /// 3d
  //        zmp left foot tsid::math::Vector3 m_zmp_RF;              /// 3d zmp
  //        left foot tsid::math::Vector3 m_zmp;                 /// 3d global
  //        zmp
};  // class AdmittanceController
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_admittance_controller_H__