CartesianVelocityControllerWithRamp.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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     Sonja Marahrens (sonja dot marahrens)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "CartesianVelocityControllerWithRamp.h"
 
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx
{
    CartesianVelocityControllerWithRamp::CartesianVelocityControllerWithRamp(
        const VirtualRobot::RobotNodeSetPtr& rns,
        const Eigen::VectorXf& currentJointVelocity,
        VirtualRobot::IKSolver::CartesianSelection mode,
        float maxPositionAcceleration,
        float maxOrientationAcceleration,
        float maxNullspaceAcceleration,
        const VirtualRobot::RobotNodePtr& tcp) :
        controller(rns, tcp), mode(mode)
    {
        setMaxAccelerations(
            maxPositionAcceleration, maxOrientationAcceleration, maxNullspaceAcceleration);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
        setCurrentJointVelocity(currentJointVelocity);
#pragma GCC diagnostic pop
    }
 
    void
    CartesianVelocityControllerWithRamp::setCurrentJointVelocity(
        const Eigen::Ref<const Eigen::VectorXf>& currentJointVelocity)
    {
        Eigen::MatrixXf jacobi = controller.ik->getJacobianMatrix(controller._tcp, mode);
        //Eigen::MatrixXf inv = controller.ik->computePseudoInverseJacobianMatrix(jacobi, controller.ik->getJacobiRegularization(mode));
 
 
        Eigen::FullPivLU<Eigen::MatrixXf> lu_decomp(jacobi);
        Eigen::MatrixXf nullspace = lu_decomp.kernel();
        Eigen::VectorXf nsv = Eigen::VectorXf::Zero(nullspace.rows());
 
        for (int i = 0; i < nullspace.cols(); i++)
        {
            nsv += nullspace.col(i) * nullspace.col(i).dot(currentJointVelocity) /
                   nullspace.col(i).squaredNorm();
        }
        cartesianVelocityRamp.setState(jacobi * currentJointVelocity, mode);
        nullSpaceVelocityRamp.setState(nsv);
    }
 
    void
    CartesianVelocityControllerWithRamp::switchMode(const Eigen::VectorXf& currentJointVelocity,
                                                    VirtualRobot::IKSolver::CartesianSelection mode)
    {
        Eigen::MatrixXf jacobi = controller.ik->getJacobianMatrix(controller._tcp, mode);
        cartesianVelocityRamp.setState(jacobi * currentJointVelocity, mode);
        this->mode = mode;
    }
 
    VirtualRobot::IKSolver::CartesianSelection
    CartesianVelocityControllerWithRamp::getMode()
    {
        return mode;
    }
 
    Eigen::VectorXf
    CartesianVelocityControllerWithRamp::calculate(const Eigen::VectorXf& cartesianVel,
                                                   float jointLimitAvoidanceScale,
                                                   float dt)
    {
        Eigen::VectorXf nullspaceVel =
            controller.calculateNullspaceVelocity(cartesianVel, jointLimitAvoidanceScale, mode);
        return calculate(cartesianVel, nullspaceVel, dt);
    }
 
    Eigen::VectorXf
    CartesianVelocityControllerWithRamp::calculate(const Eigen::VectorXf& cartesianVel,
                                                   const Eigen::VectorXf& nullspaceVel,
                                                   float dt)
    {
        ARMARX_TRACE;
        return controller.calculate(cartesianVelocityRamp.update(cartesianVel, dt),
                                    nullSpaceVelocityRamp.update(nullspaceVel, dt),
                                    mode);
    }
 
    void
    CartesianVelocityControllerWithRamp::setMaxAccelerations(float maxPositionAcceleration,
                                                             float maxOrientationAcceleration,
                                                             float maxNullspaceAcceleration)
    {
        cartesianVelocityRamp.setMaxOrientationAcceleration(maxOrientationAcceleration);
        cartesianVelocityRamp.setMaxPositionAcceleration(maxPositionAcceleration);
        nullSpaceVelocityRamp.setMaxAccelaration(maxNullspaceAcceleration);
    }
 
    float
    CartesianVelocityControllerWithRamp::getMaxOrientationAcceleration()
    {
        return cartesianVelocityRamp.getMaxOrientationAcceleration();
    }
 
    float
    CartesianVelocityControllerWithRamp::getMaxPositionAcceleration()
    {
        return cartesianVelocityRamp.getMaxPositionAcceleration();
    }
 
    float
    CartesianVelocityControllerWithRamp::getMaxNullspaceAcceleration()
    {
        return nullSpaceVelocityRamp.getMaxAccelaration();
    }
} // namespace armarx