TaskspaceMixedImpedanceVelocityController.h

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/**
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
 
#include "ArmarXCore/util/CPPUtility/TripleBuffer.h"
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
 
#include <armarx/control/common/control_law/aron/TaskspaceMixedImpedanceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/common.h>
#include <armarx/control/common/ft/FTSensor.h>
#include <armarx/control/common/ft/aron/FTConfig.aron.generated.h>
 
namespace armarx::control::common::control_law
{
 
    class TaskspaceMixedImpedanceVelocityController
    {
    public:
        using FTConfig = common::ft::arondto::FTConfig;
        using Config =
            common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfig;
        using ConfigDict =
            common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict;
 
        /// internal status of the controller, containing intermediate variables, mutable targets
        struct RtStatus : public RobotStatus
        {
            /// targets
            Eigen::VectorXf desiredJointTorques;
            Eigen::VectorXf desiredJointVelocity;
            Eigen::VectorXf nullspaceTorque;
            Eigen::VectorXf nullspaceVelocity;
 
            /// force torque
            Eigen::Vector6f currentForceTorque;
 
            /// task space variables
            Eigen::Vector6f forceImpedance;
            Eigen::Vector6f cartesianVelTarget;
 
            /// current status
            Eigen::VectorXf qpos;
            Eigen::VectorXf qvel;
            Eigen::VectorXf qvelFiltered;
            Eigen::Matrix4f currentPose;
            Eigen::Vector6f currentTwist;
            Eigen::Matrix4f desiredPose;
 
            /// intermediate results
            Eigen::Matrix3f poseDiffMatImp;
            Eigen::Vector6f poseErrorImp;
            Eigen::AngleAxisf oriDiffAngleAxis;
 
            /// others
            Eigen::MatrixXf jacobi;
            Eigen::MatrixXf jtpinv;
            Eigen::MatrixXf jpinv;
            bool rtSafe;
            bool rtTargetSafe = true;
 
            size_t nDoFTorque;
            size_t nDoFVelocity;
 
            void
            reset(const unsigned int nDoF, const size_t numDoFTorque, const size_t numDoFVelocity);
            void rtPreActivate(const Eigen::Matrix4f& currentPose);
        };
 
        unsigned int numOfJoints; // for nonRT use case
        size_t nDoFTorque;
        size_t nDoFVelocity;
 
    private:
        std::atomic_bool enablePreactivateInit{false};
 
        Eigen::MatrixXf I;
 
        VirtualRobot::DifferentialIKPtr ik;
 
        const float lambda = 2.0f;
 
    public:
        VirtualRobot::RobotNodePtr tcp;
        VirtualRobot::RobotNodePtr rtTCP;
        common::ft::FTSensor ftsensor;
 
        std::vector<size_t> jointIDTorqueMode;
        std::vector<size_t> jointIDVelocityMode;
 
        bool isControlModeValid(const std::vector<std::string>& nameList,
                                const std::map<std::string, std::string>& jointControlModeMap);
        // void updateFT(const FTConfig& c, RtStatus& rtStatus);
        void initialize(const VirtualRobot::RobotNodeSetPtr& rns,
                        const VirtualRobot::RobotNodeSetPtr& rtRns,
                        const std::vector<size_t>& torqueControlledIndex,
                        const std::vector<size_t>& velocityControlledIndex);
        void preactivateInit(const VirtualRobot::RobotNodeSetPtr& rns);
 
        void run(Config& c, RtStatus& robotStatus);
        void firstRun();
    };
} // namespace armarx::control::common::control_law