joint-trajectory-generator.hh

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/*
 * Copyright 2014, Oscar E. Ramos Ponce, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_joint_trajectory_generator_H__
#define __sot_torque_control_joint_trajectory_generator_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(joint_position_controller_EXPORTS)
#define SOTJOINTTRAJECTORYGENERATOR_EXPORT __declspec(dllexport)
#else
#define SOTJOINTTRAJECTORYGENERATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTJOINTTRAJECTORYGENERATOR_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <boost/assign.hpp>
#include <map>
#include <pinocchio/fwd.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/trajectory-generators.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
 
namespace dynamicgraph {
namespace sot {
namespace torque_control {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTJOINTTRAJECTORYGENERATOR_EXPORT JointTrajectoryGenerator
    : public ::dynamicgraph::Entity {
  typedef JointTrajectoryGenerator EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  JointTrajectoryGenerator(const std::string& name);
 
  void init(const double& dt, const std::string& robotRef);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(q, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(ddq, dynamicgraph::Vector);
  DECLARE_SIGNAL(fRightFoot, OUT, dynamicgraph::Vector);
  DECLARE_SIGNAL(fLeftFoot, OUT, dynamicgraph::Vector);
  DECLARE_SIGNAL(fRightHand, OUT, dynamicgraph::Vector);
  DECLARE_SIGNAL(fLeftHand, OUT, dynamicgraph::Vector);
 
 protected:
  DECLARE_SIGNAL_OUT_FUNCTION(fRightFoot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT_FUNCTION(fLeftFoot, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT_FUNCTION(fRightHand, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT_FUNCTION(fLeftHand, dynamicgraph::Vector);
 
 public:
  /* --- COMMANDS --- */
 
  void playTrajectoryFile(const std::string& fileName);
 
  void getJoint(const std::string& jointName);
 
  bool isTrajectoryEnded();
 
  void moveJoint(const std::string& jointName, const double& qFinal,
                 const double& time);
  void moveForce(const std::string& forceName, const int& axis,
                 const double& fFinal, const double& time);
 
  void startSinusoid(const std::string& jointName, const double& qFinal,
                     const double& time);
 
  void startTriangle(const std::string& jointName, const double& qFinal,
                     const double& time, const double& Tacc);
 
  void startConstAcc(const std::string& jointName, const double& qFinal,
                     const double& time);
 
  //        void startForceSinusoid(const std::string& forceName, const
  //        dynamicgraph::Vector& fFinal, const double& time);
  void startForceSinusoid(const std::string& forceName, const int& axis,
                          const double& fFinal, const double& time);
 
  void startLinearChirp(const std::string& jointName, const double& qFinal,
                        const double& f0, const double& f1, const double& time);
 
  void startForceLinearChirp(const std::string& forceName, const int& axis,
                             const double& fFinal, const double& f0,
                             const double& f1, const double& time);
 
  void stop(const std::string& jointName);
 
  void stopForce(const std::string& forceName);
 
  /* --- 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) << ("[JointTrajectoryGenerator-" + name + "] " + msg)
                      << '\n';
  }
 
 protected:
  enum JTG_Status {
    JTG_STOP,
    JTG_SINUSOID,
    JTG_MIN_JERK,
    JTG_LIN_CHIRP,
    JTG_TRIANGLE,
    JTG_CONST_ACC,
    JTG_TEXT_FILE
  };
 
  bool
      m_initSucceeded;  
  bool m_firstIter;     
  double m_dt;          
 
  RobotUtilShrPtr m_robot_util;
 
  std::vector<int> m_iterForceSignals;
 
  std::vector<JTG_Status> m_status;  
  std::vector<AbstractTrajectoryGenerator*> m_currentTrajGen;
  std::vector<NoTrajectoryGenerator*> m_noTrajGen;
  std::vector<MinimumJerkTrajectoryGenerator*> m_minJerkTrajGen;
  std::vector<SinusoidTrajectoryGenerator*> m_sinTrajGen;
  std::vector<LinearChirpTrajectoryGenerator*> m_linChirpTrajGen;
  std::vector<TriangleTrajectoryGenerator*> m_triangleTrajGen;
  std::vector<ConstantAccelerationTrajectoryGenerator*> m_constAccTrajGen;
  TextFileTrajectoryGenerator* m_textFileTrajGen;
 
  std::vector<JTG_Status> m_status_force;  
  std::vector<AbstractTrajectoryGenerator*> m_currentTrajGen_force;
  std::vector<NoTrajectoryGenerator*> m_noTrajGen_force;
  std::vector<SinusoidTrajectoryGenerator*> m_sinTrajGen_force;
  std::vector<MinimumJerkTrajectoryGenerator*> m_minJerkTrajGen_force;
  std::vector<LinearChirpTrajectoryGenerator*> m_linChirpTrajGen_force;
 
  bool generateReferenceForceSignal(const std::string& forceName, int fid,
                                    dynamicgraph::Vector& s, int iter);
 
  bool convertJointNameToJointId(const std::string& name, unsigned int& id);
  bool convertForceNameToForceId(const std::string& name, unsigned int& id);
  bool isJointInRange(unsigned int id, double q);
  bool isForceInRange(unsigned int id, const Eigen::VectorXd& f);
  bool isForceInRange(unsigned int id, int axis, double f);
 
};  // class JointTrajectoryGenerator
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_joint_position_controller_H__