position-controller.hh

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/*
 * Copyright 2015, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_position_controller_H__
#define __sot_torque_control_position_controller_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(position_controller_EXPORTS)
#define SOTPOSITIONCONTROLLER_EXPORT __declspec(dllexport)
#else
#define SOTPOSITIONCONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTPOSITIONCONTROLLER_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 SOTPOSITIONCONTROLLER_EXPORT PositionController
    : public ::dynamicgraph::Entity {
  typedef PositionController EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  /* --- CONSTRUCTOR ---- */
  PositionController(const std::string& name);
 
  void init(const double& dt, const std::string& robotRef);
 
  void resetIntegral();
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(jointsVelocities, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(qRef, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(dqRef, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);  
  DECLARE_SIGNAL_IN(Ki, dynamicgraph::Vector);  
 
  DECLARE_SIGNAL_OUT(pwmDes,
                     dynamicgraph::Vector);  
  // DEBUG SIGNALS
  DECLARE_SIGNAL_OUT(qError, 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) << ("[PositionController-" + name + "] " + msg) << '\n';
  }
 
 protected:
  RobotUtilShrPtr m_robot_util;  
  Eigen::VectorXd m_pwmDes;
  bool
      m_initSucceeded;  
  double m_dt;          
 
  Eigen::VectorXd m_e_integral;
 
  Eigen::VectorXd m_q, m_dq;
 
};  // class PositionController
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_position_controller_H__