control-manager.hh

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/*
 * Copyright 2015, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_control_manager_H__
#define __sot_torque_control_control_manager_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_torque_control_control_manager_H__)
#define SOTCONTROLMANAGER_EXPORT __declspec(dllexport)
#else
#define SOTCONTROLMANAGER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTCONTROLMANAGER_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 ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#define CTRL_MODE_TRANSITION_TIME_STEP 1000.0
 
class CtrlMode {
 public:
  int id;
  std::string name;
 
  CtrlMode() : id(-1), name("None") {}
  CtrlMode(int id, const std::string& name) : id(id), name(name) {}
};
 
std::ostream& operator<<(std::ostream& os, const CtrlMode& s) {
  os << s.id << "_" << s.name;
  return os;
}
 
class SOTCONTROLMANAGER_EXPORT ControlManager : public ::dynamicgraph::Entity {
  typedef ControlManager EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  ControlManager(const std::string& name);
 
  void init(const double& dt, const std::string& urdfFile,
            const std::string& robotRef);
 
  /* --- SIGNALS --- */
  std::vector<dynamicgraph::SignalPtr<dynamicgraph::Vector, int>*>
      m_ctrlInputsSIN;
  std::vector<dynamicgraph::SignalPtr<bool, int>*>
      m_emergencyStopSIN;  
  std::vector<dynamicgraph::Signal<dynamicgraph::Vector, int>*>
      m_jointsCtrlModesSOUT;
 
  DECLARE_SIGNAL_IN(i_measured, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      tau, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      tau_predicted,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      i_max, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(
      u_max,
      dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(tau_max,
                    dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(
      u_safe,
      dynamicgraph::Vector);  
 
  /* --- COMMANDS --- */
 
  void addCtrlMode(const std::string& name);
  void ctrlModes();
  void getCtrlMode(const std::string& jointName);
  void setCtrlMode(const std::string& jointName, const std::string& ctrlMode);
  void setCtrlMode(const int jid, const CtrlMode& cm);
 
  void resetProfiler();
 
  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 setImuJointName(const std::string&);
  void displayRobotUtil();
 
  void setHandFrameName(const std::string&, const std::string&);
 
  void setJoints(const dynamicgraph::Vector&);
 
  void setStreamPrintPeriod(const double& s);
  void setSleepTime(const double& seconds);
  void addEmergencyStopSIN(const std::string& name);
 
  /* --- 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) << ("[ControlManager-" + name + "] " + msg) << '\n';
  }
 
 protected:
  RobotUtilShrPtr m_robot_util;
  tsid::robots::RobotWrapper* m_robot;
  bool
      m_initSucceeded;  
  double m_dt;          
  bool m_emergency_stop_triggered;  
  bool m_is_first_iter;  
  int m_iter;
  double m_sleep_time;  
 
  std::vector<std::string> m_ctrlModes;  
  std::vector<CtrlMode>
      m_jointCtrlModes_current;  
  std::vector<CtrlMode>
      m_jointCtrlModes_previous;  
  std::vector<int>
      m_jointCtrlModesCountDown;  
 
  bool convertStringToCtrlMode(const std::string& name, CtrlMode& cm);
  bool convertJointNameToJointId(const std::string& name, unsigned int& id);
  bool isJointInRange(unsigned int id, double q);
  void updateJointCtrlModesOutputSignal();
 
};  // class ControlManager
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_control_manager_H__