TaskspaceController.h

Go to the documentation of this file.

/**
 * 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 <Eigen/Core>
 
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/IK/JacobiProvider.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/logging/Logging.h>
// #include <armarx/control/common/control_law/aron/TaskspaceMixedImpedanceVelocityControllerConfig.aron.generated.h>
// #include <armarx/control/common/control_law/aron/TaskspaceImpedanceControllerConfig.aron.generated.h>
// #include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
// #include <armarx/control/common/control_law/aron/TaskspaceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceControllerConfig.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
{
 
    template <typename ConfigType, typename ConfigDictType>
    class TaskspaceController
    {
    public:
        using FTConfig = common::ft::arondto::FTConfig;
        using Config = ConfigType;
        using ConfigDict = ConfigDictType;
 
    public:
        VirtualRobot::RobotNodePtr tcp;
        VirtualRobot::RobotNodePtr rtTCP;
        common::ft::FTSensor ftsensor;
 
        bool isControlModeValid(const std::vector<std::string>& nameList,
                                const std::map<std::string, std::string>& jointControlModeMap);
 
        void initialize(const VirtualRobot::RobotNodeSetPtr& rns,
                        const VirtualRobot::RobotNodeSetPtr& rtRns);
        // void preactivateInit(const VirtualRobot::RobotNodeSetPtr& rns);
 
        void validate(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void updateJacobian(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void updateTwist(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void updateTSError(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void updateTSTwistCommand(ConfigType& c, TSCtrlRtStatus& rtStatus); /// Velocity
        void updateTSForceCommand(ConfigType& c, TSCtrlRtStatus& rtStatus); /// Impedance
        void updateTSAdmittanceCommand(ConfigType& c, TSCtrlRtStatus& rtStatus); /// Admittance
        void updateNullspaceTwistCommand(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void updateNullspaceForceCommand(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void applyInverseDynamics(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void applyInverseKinematics(ConfigType& c, TSCtrlRtStatus& rtStatus);
        void setForceTorqueGuard(bool forceGuard, bool torqueGuard);
        void computeInertiaInverse(TSCtrlRtStatus& rtStatus);
        void applyAdmittanceInterface(ConfigType& c, TSCtrlRtStatus& rtStatus);
 
        bool isForceTorqueSafe();
 
        virtual void run(ConfigType& c, TSCtrlRtStatus& robotStatus) = 0; // pure virtual
        void firstRun();
 
        virtual ~TaskspaceController() = default;
 
    private:
        VirtualRobot::DifferentialIKPtr ik;
        Eigen::Vector6f JacPseudoInvRegularization;
    };
 
    template <typename ConfigType, typename ConfigDictType>
    void
    TaskspaceController<ConfigType, ConfigDictType>::initialize(
        const VirtualRobot::RobotNodeSetPtr& rns,
        const VirtualRobot::RobotNodeSetPtr& rtRns)
    {
        ARMARX_CHECK_NOT_NULL(rns);
        auto numOfJoints = rns->getSize();
 
        tcp = rns->getTCP();
        rtTCP = rtRns->getTCP();
        ARMARX_CHECK_NOT_NULL(tcp);
        ik.reset(new VirtualRobot::DifferentialIK(
            rtRns, rtRns->getRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
        ik->setDampedSvdLambda(0.1f);
        ik->setJacobiMMRegularization(1.f);
 
        JacPseudoInvRegularization =
            ik->getJacobiRegularization(VirtualRobot::IKSolver::CartesianSelection::All);
        //        ARMARX_INFO << VAROUT(JacPseudoInvRegularization);
        //        ARMARX_INFO << "Jacobian Pseudo Inverse regularization: " << JacPseudoInvRegularization;
    }
 
    class TSMixImpVelController :
        public TaskspaceController<common::control_law::arondto::TSMixImpVelConfig,
                                   common::control_law::arondto::TSMixImpVelConfigDict>
    {
    public:
        static constexpr std::string_view TypeName = "TSMixImpVel";
        static constexpr bool IsCompliant = true;
        void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    };
 
    class TSImpController :
        public TaskspaceController<common::control_law::arondto::TSImpConfig,
                                   common::control_law::arondto::TSImpConfigDict>
    {
    public:
        static constexpr std::string_view TypeName = "TSImp";
        static constexpr bool IsCompliant = true;
        void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    };
 
    class TSVelController :
        public TaskspaceController<common::control_law::arondto::TSVelConfig,
                                   common::control_law::arondto::TSVelConfigDict>
    {
    public:
        static constexpr std::string_view TypeName = "TSVel";
        static constexpr bool IsCompliant = false;
        void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    };
 
    class TSAdmController :
        public TaskspaceController<common::control_law::arondto::TSAdmConfig,
                                   common::control_law::arondto::TSAdmConfigDict>
    {
    public:
        static constexpr std::string_view TypeName = "TSAdm";
        static constexpr bool IsCompliant = true;
        void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    };
 
    // class TSMixImpVelController:
    //         public TaskspaceController<
    //                 common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfig,
    //                 common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict>
    // {
    //     void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    // };
    //
    // class TSImpController:
    //         public TaskspaceController<
    //                 common::control_law::arondto::TaskspaceImpedanceControllerConfig,
    //                 common::control_law::arondto::TaskspaceImpedanceControllerConfigDict>
    // {
    //     void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    // };
    //
    // class TSVelController:
    //         public TaskspaceController<
    //                 common::control_law::arondto::TaskspaceVelocityControllerConfig,
    //                 common::control_law::arondto::TaskspaceVelocityControllerConfigDict>
    // {
    //     void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    // };
    //
    // class TSAdmittanceController:
    //         public TaskspaceController<
    //                 common::control_law::arondto::TaskspaceAdmittanceControllerConfig,
    //                 common::control_law::arondto::TaskspaceAdmittanceControllerConfigDict>
    // {
    //     void run(Config& c, TSCtrlRtStatus& robotStatus) override;
    // };
 
} // namespace armarx::control::common::control_law