TaskspaceImpedanceController.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       2021
 * @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/TaskspaceImpedanceControllerConfig.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 TaskspaceImpedanceController
    {
    public:
        using FTConfig = common::ft::arondto::FTConfig;
        using Config = common::control_law::arondto::TaskspaceImpedanceControllerConfig;
        using ConfigDict = common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
 
        // /// internal status of the controller, containing intermediate variables, mutable targets
        // struct RtStatus : public RobotStatus
        // {
        //     /// targets
        //     Eigen::VectorXf desiredJointTorque;
        //     Eigen::VectorXf nullspaceTorque;
        //
        //     /// force torque
        //     Eigen::Vector6f currentForceTorque;
        //     Eigen::Vector6f safeFTGuardOffset;
        //
        //     /// task space variables
        //     Eigen::Vector6f forceImpedance;
        //
        //     /// current status
        //     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;
        //     bool rtSafe;
        //     bool rtTargetSafe = true;
        //     bool forceTorqueSafe = true;
        //
        //     void reset(const unsigned int nDoF);
        //     void rtPreActivate(const Eigen::Matrix4f& currentPose);
        // };
 
        // unsigned int numOfJoints; // for nonRT use case
    private:
        // Eigen::MatrixXf I;
 
        VirtualRobot::DifferentialIKPtr ik;
 
        // const float lambda = 2.0f;
 
    public:
        VirtualRobot::RobotNodePtr tcp;
        VirtualRobot::RobotNodePtr rtTCP;
        common::ft::FTSensor ftsensor;
 
        // void updateFT(const FTConfig& c, RtStatus& rtStatus);
        void initialize(const VirtualRobot::RobotNodeSetPtr& rns,
                        const VirtualRobot::RobotNodeSetPtr& rtRns);
        void preactivateInit(const VirtualRobot::RobotNodeSetPtr& rns);
 
        void run(Config& c, TSCtrlRtStatus& robotStatus);
        void firstRun();
    };
} // namespace armarx::control::common::control_law