KeypointsImpedanceController.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       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/IK/DifferentialIK.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/common.h>
 
 
namespace armarx::control::common::control_law
{
    class KeypointsImpedanceController
    {
    public:
        /// you can set the following values from outside of the rt controller via Ice interfaces
        struct Config
        {
            Eigen::Vector6f kpImpedance;
            Eigen::Vector6f kdImpedance;
 
//            Eigen::Vector6f kpAdmittance; /// might not be needed anymore
            Eigen::Vector6f kdAdmittance;
            Eigen::Vector6f kmAdmittance;
 
            Eigen::VectorXf kpNullspace;
            Eigen::VectorXf kdNullspace;
 
            std::optional<Eigen::VectorXf> desiredNullspaceJointAngles;
 
            float torqueLimit;
            float qvelFilter;
 
            /// keypoints related
            int numPoints;
            Eigen::VectorXf keypointKp;
            Eigen::VectorXf keypointKd;
            Eigen::VectorXf fixedTranslation;
            float densityForceScaling = 1.0;
//            Eigen::VectorXf currentKeypointPosition;
//            Eigen::VectorXf desiredKeypointPosition;
//            Eigen::VectorXf desiredKeypointVelocity;
//            Eigen::VectorXf desiredDensityForce;
            float keypointPositionFilter = 1.0f;
            float keypointVelocityFilter = 1.0f;
 
            bool isRigid = false;
        };
 
        /// internal status of the controller, containing intermediate variables, mutable targets
        struct RtStatus
        {
            /// targets
            Eigen::VectorXf desiredJointTorques;
 
            Eigen::Matrix4f desiredPose;
            Eigen::Vector6f desiredTwist;
 
            /// task space variables
            Eigen::Vector6f forceImpedance;
            Eigen::VectorXf nullspaceTorque;
        };
 
        struct NonRtStatus
        {
            /// joint space variable
            Eigen::VectorXf qpos;
            Eigen::VectorXf qvel;
 
            /// task space variables
            Eigen::Matrix4f currentPose;
            Eigen::Vector6f currentTwist;
 
            Eigen::Matrix4f desiredPose;
            Eigen::Vector6f desiredVel;
            Eigen::Vector6f desiredAcc;
 
            /// others
            Eigen::MatrixXf jacobi;
            Eigen::MatrixXf jtpinv;
 
            /// keypoint status
            Eigen::Vector6f pointTrackingForce;
            Eigen::VectorXf filteredKeypointPosition;
            Eigen::VectorXf previousKeypointPosition;
 
            Eigen::VectorXf currentKeypointPosition;
            Eigen::VectorXf currentKeypointVelocity;
 
            Eigen::VectorXf desiredKeypointPosition;
            Eigen::VectorXf desiredKeypointVelocity;
            Eigen::VectorXf desiredDensityForce;
        };
 
    private:
        /// joint space variables
        unsigned int numOfJoints;
        std::atomic_bool enablePreactivateInit{false};
 
        Eigen::MatrixXf I;
 
        VirtualRobot::DifferentialIKPtr ik;
 
        const float lambda = 2.0f;
    public:
        TripleBuffer<RtStatus> bufferRtToOnPublish;
 
        TripleBuffer<NonRtStatus> bufferNonRtToRt;
        TripleBuffer<NonRtStatus> bufferNonRtToOnPublish;
 
        VirtualRobot::RobotNodePtr tcp;
 
        void initialize(const VirtualRobot::RobotNodeSetPtr& rns);
        //        Config reconfigure(const std::string &configFileName);
        void preactivateInit(const VirtualRobot::RobotNodeSetPtr& rns, const Config& c);
        bool updateControlStatus(
                const Config& cfg,
                const RobotStatus& robotStatus);
        //        bool updateControlStatus(
        //            const Config& cfg,
        //            const IceUtil::Time& timeSinceLastIteration,
        //            std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors,
        //            std::vector<const SensorValue1DoFActuatorVelocity*> velocitySensors,
        //            std::vector<const SensorValue1DoFActuatorPosition*> positionSensors);
 
        //        void run(bool rtReady, std::vector<ControlTarget1DoFActuatorTorque*> targets);
        void run(const Config& cfg, ControlTarget& targets);
        void firstRun();
 
//        bool validateTargetPose(Eigen::Matrix4f &targetPose);
        std::atomic<bool> isInitialized{false};
    };
} /// namespace armarx::control::common::control_law