PlatformGlobalTrajectoryController.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     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <atomic>
#include <map>
#include <optional>
#include <string>
 
#include <Ice/Current.h>
#include <Ice/Object.h>
#include <IceUtil/Time.h>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/interface/units/RobotUnit/NJointController.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 
#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/trajectory_control/global/TrajectoryFollowingController.h>
 
namespace armarx
{
    class ControlTargetHolonomicPlatformVelocity;
    class SensorValueHolonomicPlatformWithAbsolutePosition;
} // namespace armarx
 
namespace armarx::navigation::platform_controller::platform_global_trajectory
{
    struct Targets
    {
        core::GlobalTrajectory trajectory;
    };
 
    struct Config
    {
        using Params = traj_ctrl::global::TrajectoryFollowingControllerParams;
 
        Params params;
        Targets targets;
    };
 
    struct Twist2D
    {
        Eigen::Vector2f linear = Eigen::Vector2f::Zero();
        float angular = 0;
 
        void
        reset()
        {
            linear = Eigen::Vector2f::Zero();
            angular = 0;
        }
    };
 
    using Target = Twist2D;
 
    struct Debug
    {
        Target target;
 
        double dropPointVelocity = 0;
        double currentOrientation = 0;
        double desiredOrientation = 0;
        double orientationError = 0;
        bool isFinalSegment = false;
 
        double positionError = 0;
 
        double ffAngular = 0;
        double cappedFfVel = 0;
 
        Eigen::Isometry3f global_T_robot = Eigen::Isometry3f::Identity();
    };
 
    struct Devices
    {
        ControlTargetHolonomicPlatformVelocity* platformTarget;
    };
 
    using NameValueMap = std::map<std::string, float>;
 
    class Controller :
        virtual public NJointControllerWithTripleBuffer<Target>,
        virtual public armarx::control::ConfigurableNJointControllerInterface
    {
    public:
        using ConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
 
        Controller(const RobotUnitPtr& robotUnit,
                   const NJointControllerConfigPtr& config,
                   const VirtualRobot::RobotPtr&);
 
        ~Controller() override;
 
        std::string getClassName(const Ice::Current& iceCurrent = Ice::emptyCurrent) const override;
 
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
 
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        ::armarx::aron::data::dto::DictPtr
        getConfig(const ::Ice::Current& = ::Ice::emptyCurrent) override;
 
    protected:
        void additionalTask();
        void onPublish(const SensorAndControl& sac,
                       const DebugDrawerInterfacePrx& debugDrawer,
                       const DebugObserverInterfacePrx& debugObservers) override;
 
 
        void onInitNJointController() override;
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
 
    private:
        struct RobotState
        {
            Eigen::Isometry3f global_T_robot;
        };
 
        TripleBuffer<Config> configBuffer_updateConfigToAdditionalTask;
        TripleBuffer<Config> configBuffer_updateConfigToOnPublish;
        TripleBuffer<Debug> targetBuffer_additionalTaskToOnPublish;
        TripleBuffer<RobotState> robotStateBuffer_rtToAdditionalTask;
 
 
        // internal
        std::atomic_bool rtFirstRun = true;
        std::atomic_bool rtReady = false;
 
        ControlTargetHolonomicPlatformVelocity* platformTarget;
 
        std::optional<traj_ctrl::global::TrajectoryFollowingController>
            trajectoryFollowingController;
 
 
        Devices getDevices(const VirtualRobot::RobotNodeSet& rns);
 
        // additional task has exclusive access to this variable
        Twist2D filteredTwist;
    };
 
} // namespace armarx::navigation::platform_controller::platform_global_trajectory