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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __invdyn_task_contact_force_equality_hpp__ |
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#define __invdyn_task_contact_force_equality_hpp__ |
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#include "tsid/math/fwd.hpp" |
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#include "tsid/tasks/task-contact-force.hpp" |
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#include "tsid/trajectories/trajectory-base.hpp" |
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#include "tsid/math/constraint-equality.hpp" |
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#include "tsid/contacts/contact-base.hpp" |
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namespace tsid { |
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namespace tasks { |
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class TaskContactForceEquality : public TaskContactForce { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::Index Index; |
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typedef trajectories::TrajectorySample TrajectorySample; |
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typedef math::Vector Vector; |
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typedef math::Vector6 Vector6; |
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typedef math::Vector3 Vector3; |
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typedef math::ConstraintEquality ConstraintEquality; |
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typedef pinocchio::SE3 SE3; |
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TaskContactForceEquality(const std::string& name, RobotWrapper& robot, |
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const double dt, contacts::ContactBase& contact); |
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virtual ~TaskContactForceEquality() {} |
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int dim() const; |
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virtual const std::string& getAssociatedContactName(); |
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virtual const contacts::ContactBase& getAssociatedContact(); |
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void setAssociatedContact(contacts::ContactBase& contact); |
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// Task expressed as a PID between the reference force and the external one |
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const ConstraintBase& compute(const double t, ConstRefVector q, |
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ConstRefVector v, Data& data); |
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const ConstraintBase& compute( |
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const double t, ConstRefVector q, ConstRefVector v, Data& data, |
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const std::vector<std::shared_ptr<ContactLevel> >* contacts); |
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const ConstraintBase& getConstraint() const; |
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void setReference(TrajectorySample& ref); |
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const TrajectorySample& getReference() const; |
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void setExternalForce(TrajectorySample& f_ext); |
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const TrajectorySample& getExternalForce() const; |
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const Vector& Kp() const; |
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const Vector& Kd() const; |
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const Vector& Ki() const; |
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const double& getLeakRate() const; |
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void Kp(ConstRefVector Kp); |
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void Kd(ConstRefVector Kp); |
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void Ki(ConstRefVector Ki); |
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void setLeakRate(double leak); |
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protected: |
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// contact associated to the force task |
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contacts::ContactBase* m_contact; |
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std::string m_contact_name; // the associated contact name or an empty string |
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ConstraintEquality m_constraint; |
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TrajectorySample m_ref; // reference Force 6D to follow |
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TrajectorySample m_fext; // external Force 6D in the same frame than the ref |
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Vector m_forceIntegralError; // Integral error of the PID |
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Vector m_Kp; |
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Vector m_Kd; |
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Vector m_Ki; |
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double m_dt; |
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double m_leak_rate; |
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}; |
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} // namespace tasks |
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} // namespace tsid |
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#endif // ifndef __invdyn_task_contact_force_equality_hpp__ |
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