TrajectoryFollowingController.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 )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <memory>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/core/MultiDimPIDController.h>
 
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/trajectory_control/global/TrajectoryController.h>
#include <armarx/navigation/trajectory_control/global/core.h>
 
namespace armarx::navigation::traj_ctrl::global
{
    // using arondto::TrajectoryFollowingControllerParams;
 
    struct TrajectoryFollowingControllerParams : public TrajectoryControllerParams
    {
 
        core::PIDParams pidPos;
        core::PIDParams pidOri;
 
        float velocityFactor = 1.F;
 
        float alpha = 0;
 
        float orientationWeight = 3.0f / M_PIf32;
 
        int maxSegmentsAhead = 5;
 
        /// Lookahead as a distance [mm]. 0 keeps the pure `maxSegmentsAhead` behaviour.
        float lookaheadDistance = 0.F;
 
        /// Fraction of `limits.angular` the angular feed-forward may use. 1 lets it saturate.
        float angularFeedforwardFraction = 1.F;
 
        /// Floor on the capped linear feed-forward, as a fraction of the requested velocity.
        float minFeedforwardVelocityFraction = 0.F;
 
        bool coupleLinearAndAngularLimits = true;
 
        bool enableAngularFeedforward = false;
 
        /// Rate at which the RT thread walks the commanded twist towards this controller's
        /// output. Not a limit on the motion -- the joint controller's ramp stays authoritative,
        /// since the same control mode is shared with the platform unit and the gamepad -- but
        /// the bridge between the 100 Hz non-RT task and the 1 kHz RT thread. Defaults are
        /// ARMAR-7's device command ramp, so this never asks for more than the ramp would grant.
        float maxLinearAcceleration = 250.F; // [mm/s^2]
        float maxAngularAcceleration = 0.4F; // [rad/s^2]
 
        Algorithms algorithm() const override;
        aron::data::DictPtr toAron() const override;
 
        static TrajectoryFollowingControllerParams FromAron(const aron::data::DictPtr& dict);
    };
 
    class TrajectoryFollowingController : virtual public TrajectoryController
    {
    public:
        using Params = TrajectoryFollowingControllerParams;
 
        TrajectoryFollowingController(const Params& params);
        ~TrajectoryFollowingController() override = default;
 
        TrajectoryControllerResult control(const core::GlobalTrajectory& trajectory,
                                           const core::Pose& global_T_robot) override;
 
 
        void updateParams(const Params& params);
 
        void resetProgress();
 
    protected:
        core::Twist applyTwistLimits(core::Twist twist);
 
        core::Twist applyVelocityFactor(core::Twist twist);
 
    private:
        Params params;
 
 
        MultiDimPIDControllerTemplate<3> pidPos;
        MultiDimPIDControllerTemplate<3> pidPosTarget;
        MultiDimPIDControllerTemplate<3> pidOri;
        MultiDimPIDControllerTemplate<3> pidOriTarget;
 
        struct TrajectoryId
        {
            std::size_t numPoints = 0;
            Eigen::Vector3f firstTranslation = Eigen::Vector3f::Zero();
            Eigen::Vector3f lastTranslation = Eigen::Vector3f::Zero();
 
            bool operator==(const TrajectoryId& other) const
            {
                return numPoints == other.numPoints &&
                       firstTranslation == other.firstTranslation &&
                       lastTranslation == other.lastTranslation;
            }
            bool operator!=(const TrajectoryId& other) const
            {
                return !(*this == other);
            }
        };
 
        std::optional<TrajectoryId> lastTrajectoryId_;
        std::size_t lastProjectionIndex_ = 0;
 
        /**
         * @brief Per-trajectory latches for the `[nav-guard]` warnings.
         *
         * `control()` runs at 100 Hz, so a guard that fires every cycle would flood the log. The
         * latches make the first firing on a given trajectory unconditional and leave the
         * sustained case to `deactivateSpam`, which is what makes a robot log readable while
         * still never hiding the onset.
         */
        struct GuardState
        {
            bool zeroLengthSegment = false;
 
            bool nonFiniteTwist = false;
 
            bool noUsableProjection = false;
 
            bool angularFeedforwardSaturated = false;
 
            /// Consecutive cycles the angular feed-forward has been pinned at the limit.
            std::size_t angularSaturatedCycles = 0;
        };
 
        GuardState guards_;
    };
 
    using TrajectoryFollowingControllerPtr = std::shared_ptr<TrajectoryFollowingController>;
 
} // namespace armarx::navigation::traj_ctrl::global