NJointHolonomicPlatformGlobalPositionController.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Markus Grotz (markus.grotz at kit dot edu)
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
 
#include <atomic>
 
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include "RobotAPI/components/units/RobotUnit/Devices/GlobalRobotPoseSensorDevice.h"
#include <RobotAPI/components/units/RobotUnit/BasicControllers.h>
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <RobotAPI/libraries/core/PIDController.h>
 
#include "../ControlTargets/ControlTarget1DoFActuator.h"
#include "../SensorValues/SensorValueHolonomicPlatform.h"
#include "NJointControllerWithTripleBuffer.h"
 
namespace armarx
{
 
    TYPEDEF_PTRS_HANDLE(NJointHolonomicPlatformGlobalPositionControllerConfig);
 
    class NJointHolonomicPlatformGlobalPositionControllerConfig :
        virtual public NJointControllerConfig
    {
    public:
        std::string platformName;
        float p = 1.0f;
        float i = 0.0f;
        float d = 0.0f;
        float maxVelocity = 400;
        float maxAcceleration = 300;
 
        float p_rot = 0.8f;
        float i_rot = 0.0f;
        float d_rot = 0.0f;
 
        float maxRotationVelocity = 1.0;
        float maxRotationAcceleration = 0.5;
    };
 
    struct NJointHolonomicPlatformGlobalPositionControllerTarget
    {
        Eigen::Vector2f target{0, 0}; // x,y
        float targetOrientation = 0;
        float translationAccuracy = 0.0f;
        float rotationAccuracy = 0.0f;
        bool newTargetSet = false;
 
        // Eigen::Vector2f startPosition;
        // float startOrientation;
 
        // Eigen::Vector2f globalPosition;
        // float globalOrientation;
 
        IceUtil::Time lastUpdate = IceUtil::Time::seconds(0);
    };
 
    TYPEDEF_PTRS_HANDLE(NJointHolonomicPlatformGlobalPositionController);
 
    /**
     * @brief The NJointHolonomicPlatformGlobalPositionController class
     * @ingroup Library-RobotUnit-NJointControllers
     */
    class NJointHolonomicPlatformGlobalPositionController :
        virtual public NJointControllerWithTripleBuffer<
            NJointHolonomicPlatformGlobalPositionControllerTarget>
    {
    public:
        using ConfigPtrT = NJointHolonomicPlatformGlobalPositionControllerConfigPtr;
 
        inline NJointHolonomicPlatformGlobalPositionController(
            RobotUnit* robotUnit,
            const NJointHolonomicPlatformGlobalPositionControllerConfigPtr& cfg,
            const VirtualRobot::RobotPtr&);
 
        inline virtual void rtRun(const IceUtil::Time&,
                                  const IceUtil::Time& timeSinceLastIteration) override;
        inline virtual void rtPreActivateController() override;
 
        //ice interface
        inline virtual std::string
        getClassName(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return "NJointHolonomicPlatformGlobalPositionController";
        }
 
        void
        setTarget(float x, float y, float yaw, float translationAccuracy, float rotationAccuracy);
 
    protected:
        const GlobalRobotLocalizationSensorDevice::SensorValueType* sv;
        MultiDimPIDController pid;
        PIDController opid;
 
        ControlTargetHolonomicPlatformVelocity* target;
 
        bool isTargetSet = false;
    };
} // namespace armarx