free-flyer-locator.hh

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/*
 * Copyright 2017, Thomas Flayols, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_free_flyer_locator_H__
#define __sot_torque_control_free_flyer_locator_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(free_flyer_locator_EXPORTS)
#define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllexport)
#else
#define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFREEFLYERLOCATOR_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <map>
 
#include "boost/assign.hpp"
 
/* Pinocchio */
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
//~ #include <pinocchio/algorithm/rnea.hpp>
//~ #include "pinocchio/algorithm/crba.hpp"
 
#include <dynamic-graph/linear-algebra.h>
/* 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 SOTFREEFLYERLOCATOR_EXPORT FreeFlyerLocator
    : public ::dynamicgraph::Entity {
  typedef FreeFlyerLocator EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  FreeFlyerLocator(const std::string& name);
  ~FreeFlyerLocator();
 
  void init(const std::string& robotRef);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(freeflyer_aa, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector);
 
  /* --- COMMANDS --- */
  void displayRobotUtil();
 
  /* --- 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) << ("[FreeFlyerLocator-" + name + "] " + msg) << '\n';
  }
 
 protected:
  bool
      m_initSucceeded;  
  pinocchio::Model* m_model;  
  pinocchio::Data* m_data;    
  pinocchio::SE3 m_Mff;       
  pinocchio::SE3 m_w_M_lf;
  pinocchio::SE3 m_w_M_rf;
  long unsigned int m_right_foot_id;
  long unsigned int m_left_foot_id;
  Eigen::VectorXd
      m_q_pin;  
  Eigen::VectorXd m_q_sot;  
  Eigen::VectorXd
      m_v_pin;  
  Eigen::VectorXd m_v_sot;  
 
  RobotUtilShrPtr m_robot_util;
 
};  // class FreeFlyerLocator
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_free_flyer_locator_H__