se3-trajectory-generator.hh

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/*
 * Copyright 2017, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_se3_trajectory_generator_H__
#define __sot_torque_control_se3_trajectory_generator_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(se3_position_controller_EXPORTS)
#define SOTSE3TRAJECTORYGENERATOR_EXPORT __declspec(dllexport)
#else
#define SOTSE3TRAJECTORYGENERATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTSE3TRAJECTORYGENERATOR_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <map>
#include <parametric-curves/spline.hpp>
 
#include "boost/assign.hpp"
 
/* HELPER */
#include <dynamic-graph/signal-helper.h>
 
#include <sot/core/matrix-geometry.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 SOTSE3TRAJECTORYGENERATOR_EXPORT SE3TrajectoryGenerator
    : public ::dynamicgraph::Entity {
  typedef SE3TrajectoryGenerator EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  SE3TrajectoryGenerator(const std::string& name);
 
  void init(const double& dt);
 
  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(initial_value, dynamicgraph::Vector);
  DECLARE_SIGNAL(x, OUT, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(trigger, bool);
  DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector);
 
 protected:
  DECLARE_SIGNAL_OUT_FUNCTION(x, dynamicgraph::Vector);
 
 public:
  /* --- COMMANDS --- */
 
  void playTrajectoryFile(const std::string& fileName);
  void startSpline();
  void setSpline(const std::string& filename, const double& timeToInitConf,
                 const Eigen::MatrixXd& init_rotation);
 
  void getValue(const int& id);
 
  void move(const int& id, const double& xFinal, const double& time);
 
  void startSinusoid(const int& id, const double& xFinal, const double& time);
 
  void startTriangle(const int& id, const double& xFinal, const double& time,
                     const double& Tacc);
 
  void startConstAcc(const int& id, const double& xFinal, const double& time);
 
  void startLinearChirp(const int& id, const double& xFinal, const double& f0,
                        const double& f1, const double& time);
 
  void stop(const int& id);
 
  /* --- 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) << ("[SE3TrajectoryGenerator-" + name + "] " + msg)
                      << '\n';
  }
 
 protected:
  enum TG_Status {
    TG_STOP,
    TG_SINUSOID,
    TG_MIN_JERK,
    TG_LIN_CHIRP,
    TG_TRIANGLE,
    TG_CONST_ACC,
    TG_TEXT_FILE,
    TG_SPLINE
  };
 
  bool
      m_initSucceeded;  
  bool m_firstIter;     
  double m_dt;          
  unsigned int m_np;    
  unsigned int m_nv;    
  unsigned int m_iterLast;  
 
  double m_t;
  Eigen::Matrix3d m_splineRotation;
  parametriccurves::Spline<double, Eigen::Dynamic>* m_splineTrajGen;
  bool m_splineReady;
 
  std::vector<TG_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;
 
};  // class SE3TrajectoryGenerator
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_nd_trajectory_generator_H__