inverse-dynamics-balance-controller.hh

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/*
 * Copyright 2017, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_inverse_dynamics_balance_controller_H__
#define __sot_torque_control_inverse_dynamics_balance_controller_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(inverse_dynamics_balance_controller_EXPORTS)
#define SOTINVERSEDYNAMICSBALANCECONTROLLER_EXPORT __declspec(dllexport)
#else
#define SOTINVERSEDYNAMICSBALANCECONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTINVERSEDYNAMICSBALANCECONTROLLER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <map>
 
#include "boost/assign.hpp"
 
/* Pinocchio */
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <tsid/contacts/contact-6d.hpp>
#include <tsid/formulations/inverse-dynamics-formulation-acc-force.hpp>
#include <tsid/robots/robot-wrapper.hpp>
#include <tsid/solvers/solver-HQP-base.hpp>
#include <tsid/tasks/task-com-equality.hpp>
#include <tsid/tasks/task-joint-posture.hpp>
#include <tsid/trajectories/trajectory-euclidian.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 SOTINVERSEDYNAMICSBALANCECONTROLLER_EXPORT
    InverseDynamicsBalanceController : public ::dynamicgraph::Entity {
  typedef InverseDynamicsBalanceController EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  InverseDynamicsBalanceController(const std::string& name);
 
  void init(const double& dt, const std::string& robotRef);
  void updateComOffset();
  void removeRightFootContact(const double& transitionTime);
  void removeLeftFootContact(const double& transitionTime);
  void addRightFootContact(const double& transitionTime);
  void addLeftFootContact(const double& transitionTime);
  void addTaskRightHand(/*const double& transitionTime*/);
  void removeTaskRightHand(const double& transitionTime);
  void addTaskLeftHand(/*const double& transitionTime*/);
  void removeTaskLeftHand(const double& transitionTime);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(com_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(com_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(com_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rf_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rf_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rf_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lf_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lf_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lf_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rh_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rh_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(rh_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lh_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lh_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(lh_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(posture_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(posture_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(posture_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(base_orientation_ref_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(base_orientation_ref_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(base_orientation_ref_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(f_ref_right_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(f_ref_left_foot, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(kp_base_orientation, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_base_orientation, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_constraints, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_constraints, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_com, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_com, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_feet, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_feet, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_hands, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_hands, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_posture, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_posture, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kp_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(kd_pos, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(w_com, double);
  DECLARE_SIGNAL_IN(w_feet, double);
  DECLARE_SIGNAL_IN(w_hands, double);
  DECLARE_SIGNAL_IN(w_posture, double);
  DECLARE_SIGNAL_IN(w_base_orientation, double);
  DECLARE_SIGNAL_IN(w_torques, double);
  DECLARE_SIGNAL_IN(w_forces, double);
  DECLARE_SIGNAL_IN(weight_contact_forces, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(mu, double);
  DECLARE_SIGNAL_IN(contact_points, dynamicgraph::Matrix);
  DECLARE_SIGNAL_IN(contact_normal, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(f_min, double);
  DECLARE_SIGNAL_IN(f_max_right_foot, double);
  DECLARE_SIGNAL_IN(f_max_left_foot, double);
 
  DECLARE_SIGNAL_IN(rotor_inertias, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(gear_ratios, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(tau_max, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q_min, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q_max, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(dq_max, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(ddq_max, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(dt_joint_pos_limits, double);
 
  DECLARE_SIGNAL_IN(tau_estimated, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(v, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrench_base, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrench_left_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(wrench_right_foot, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_IN(
      active_joints,
      dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_OUT(tau_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(M, dynamicgraph::Matrix);
  DECLARE_SIGNAL_OUT(dv_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(f_des_right_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(f_des_left_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_des_right_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_des_left_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_des_right_foot_local, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_des_left_foot_local, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_ref, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_right_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp_left_foot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(zmp, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(com, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(com_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(com_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(com_acc_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(base_orientation, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_foot_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_foot_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_hand_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_hand_pos, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_foot_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_foot_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_hand_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_hand_vel, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_foot_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_foot_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_hand_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_hand_acc, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(right_foot_acc_des, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(left_foot_acc_des, dynamicgraph::Vector);
 
  DECLARE_SIGNAL_INNER(active_joints_checked, dynamicgraph::Vector);
 
  /* --- 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:
  double m_dt;  
  double m_t;
  bool
      m_initSucceeded;  
  bool m_enabled;       
  bool m_firstTime;     
 
  enum ContactState {
    DOUBLE_SUPPORT = 0,
    LEFT_SUPPORT = 1,
    LEFT_SUPPORT_TRANSITION = 2,  // transition towards left support
    RIGHT_SUPPORT = 3,
    RIGHT_SUPPORT_TRANSITION = 4
  };
  ContactState m_contactState;
  double m_contactTransitionTime;  
 
  enum RightHandState {
    TASK_RIGHT_HAND_ON = 0,
    /*TASK_RIGHT_HAND_TRANSITION = 1,*/
    TASK_RIGHT_HAND_OFF = 1
  };
  RightHandState m_rightHandState;
 
  enum LeftHandState {
    TASK_LEFT_HAND_ON = 0,
    /*TASK_LEFT_HAND_TRANSITION = 1,*/
    TASK_LEFT_HAND_OFF = 1
  };
  LeftHandState m_leftHandState;
  /*double            m_handsTransitionTime;*/  
 
  int m_frame_id_rf;  
  int m_frame_id_lf;  
 
  int m_frame_id_rh;  
  int m_frame_id_lh;  
 
  tsid::robots::RobotWrapper* m_robot;
  tsid::solvers::SolverHQPBase* m_hqpSolver;
  tsid::solvers::SolverHQPBase* m_hqpSolver_60_36_34;
  tsid::solvers::SolverHQPBase* m_hqpSolver_48_30_17;
  tsid::InverseDynamicsFormulationAccForce* m_invDyn;
  tsid::contacts::Contact6d* m_contactRF;
  tsid::contacts::Contact6d* m_contactLF;
  tsid::contacts::Contact6d* m_contactRH;
  tsid::contacts::Contact6d* m_contactLH;
  tsid::tasks::TaskComEquality* m_taskCom;
  tsid::tasks::TaskSE3Equality* m_taskRF;
  tsid::tasks::TaskSE3Equality* m_taskLF;
  tsid::tasks::TaskSE3Equality* m_taskRH;
  tsid::tasks::TaskSE3Equality* m_taskLH;
  tsid::tasks::TaskJointPosture* m_taskPosture;
  tsid::tasks::TaskJointPosture* m_taskBlockedJoints;
 
  tsid::trajectories::TrajectorySample m_sampleCom;
  tsid::trajectories::TrajectorySample m_sampleRF;
  tsid::trajectories::TrajectorySample m_sampleLF;
  tsid::trajectories::TrajectorySample m_sampleRH;
  tsid::trajectories::TrajectorySample m_sampleLH;
  tsid::trajectories::TrajectorySample m_samplePosture;
 
  double m_w_com;
  double m_w_posture;
  double m_w_hands;
 
  tsid::math::Vector m_dv_sot;       
  tsid::math::Vector m_dv_urdf;      
  tsid::math::Vector m_f;            
  tsid::math::Vector6 m_f_RF;        
  tsid::math::Vector6 m_f_LF;        
  tsid::math::Vector3 m_com_offset;  
  tsid::math::Vector3 m_zmp_des_LF;  
  tsid::math::Vector3 m_zmp_des_RF;  
  tsid::math::Vector3
      m_zmp_des_LF_local;  
  tsid::math::Vector3
      m_zmp_des_RF_local;  
  tsid::math::Vector3 m_zmp_des;  
  tsid::math::Vector3 m_zmp_LF;   
  tsid::math::Vector3 m_zmp_RF;   
  tsid::math::Vector3 m_zmp;      
  tsid::math::Vector m_tau_sot;
  tsid::math::Vector m_q_urdf;
  tsid::math::Vector m_v_urdf;
 
  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;
 
  unsigned int m_timeLast;
  RobotUtilShrPtr m_robot_util;
 
};  // class InverseDynamicsBalanceController
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_inverse_dynamics_balance_controller_H__