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 <Eigen/Core>
 
#include <VirtualRobot/VirtualRobot.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
        // {
        //     /// targets
        //     Eigen::VectorXf desiredJointTorque;
        //     Eigen::VectorXf desiredJointVelocity;
        //     Eigen::VectorXf nullspaceTorque;
        //     Eigen::VectorXf nullspaceVelocity;
        //
        //     /// force torque
        //     Eigen::Vector6f currentForceTorque;
        //     Eigen::Vector6f safeFTGuardOffset;
        //
        //     /// 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;
        //     Eigen::Matrix4f desiredPoseUnsafe;
        //
        //     /// 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;
        //     bool forceTorqueSafe = 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:
        // 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 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, TSCtrlRtStatus& robotStatus);
        void firstRun();
    };
} // namespace armarx::control::common::control_law