imu_offset_compensation.hh

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/*
 * Copyright 2017, Andrea Del Prete, LAAS-CNRS
 */
 
#ifndef __sot_torque_control_imu_offset_compensation_H__
#define __sot_torque_control_imu_offset_compensation_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(imu_offset_compensation_EXPORTS)
#define SOTIMUOFFSETCOMPENSATION_EXPORT __declspec(dllexport)
#else
#define SOTIMUOFFSETCOMPENSATION_EXPORT __declspec(dllimport)
#endif
#else
#define SOTIMUOFFSETCOMPENSATION_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
// include pinocchio first
 
#include <dynamic-graph/signal-helper.h>
 
#include <boost/assign.hpp>
#include <map>
#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 SOTIMUOFFSETCOMPENSATION_EXPORT ImuOffsetCompensation
    : public ::dynamicgraph::Entity {
  typedef ImuOffsetCompensation EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
  typedef Eigen::Vector3d Vector3;
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  ImuOffsetCompensation(const std::string& name);
 
  /* --- COMMANDS --- */
  void init(const double& dt);
  void update_offset(const double& duration);
  void setGyroDCBlockerParameter(const double& alpha);
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(accelerometer_in,
                    dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(gyrometer_in, dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(accelerometer_out,
                     dynamicgraph::Vector);  
  DECLARE_SIGNAL_OUT(gyrometer_out,
                     dynamicgraph::Vector);  
 
 protected:
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
  /* --- METHODS --- */
  void update_offset_impl(int iter);
  void sendMsg(const std::string& msg, MsgType t = MSG_TYPE_INFO,
               const char* file = "", int line = 0) {
    logger_.stream(t) << ("[ImuOffsetCompensation-" + name + "] " + msg, t,
                          file, line);
  }
 
 protected:
  bool
      m_initSucceeded;  
  float m_dt;           
  int m_update_cycles_left;    
  int m_update_cycles;         
  double m_a_gyro_DC_blocker;  
  Vector3 m_gyro_offset;       
  Vector3 m_acc_offset;        
 
  Vector3 m_gyro_sum;  
  Vector3 m_acc_sum;   
 
};  // class ImuOffsetCompensation
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_imu_offset_compensation_H__