ControllerInterface.ice

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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/>.
 *
 * @package    RobotAPI::NJointControllerInterface
 * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
module armarx
{
    class NJointBimanualCCDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        int kernelSize = 100;
        string dmpMode = "MinimumJerk";
        string dmpType = "Discrete";
 
        // phaseStop technique
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double posToOriRatio = 10;
        double timeDuration = 10;
 
        string defautLeader = "Left";
 
        Ice::FloatSeq leftDesiredJointValues;
        Ice::FloatSeq rightDesiredJointValues;
 
        //        float KoriFollower = 1;
        //        float KposFollower = 1;
 
        double maxLinearVel;
        double maxAngularVel;
 
        Ice::FloatSeq leftKpos;
        Ice::FloatSeq leftDpos;
        Ice::FloatSeq leftKori;
        Ice::FloatSeq leftDori;
 
        Ice::FloatSeq rightKpos;
        Ice::FloatSeq rightDpos;
        Ice::FloatSeq rightKori;
        Ice::FloatSeq rightDori;
 
        float knull;
        float dnull;
 
        float torqueLimit;
 
        float startReduceTorque;
 
        //        Ice::FloatSeq Kpf;
        //        Ice::FloatSeq Kif;
        //        Ice::FloatSeq DesiredForce;
 
        //        float BoxWidth;
 
        //        float FilterTimeConstant;
    };
 
    interface NJointBimanualCCDMPControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(string whichDMP, Ice::StringSeq trajfiles);
        bool isFinished();
        void runDMP(Ice::DoubleSeq leftGoals, Ice::DoubleSeq rightGoals);
 
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void setGoals(Ice::DoubleSeq goals);
 
        void changeLeader();
        double getVirtualTime();
 
        string getLeaderName();
    };
 
    class NJointBimanualCCDMPVelocityControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        int kernelSize = 100;
        string dmpMode = "MinimumJerk";
        string dmpType = "Discrete";
 
        double timeDuration = 10;
        string defautLeader = "Left";
 
        Ice::FloatSeq leftDesiredJointValues;
        Ice::FloatSeq rightDesiredJointValues;
 
        float maxLinearVel;
        float maxAngularVel;
 
        Ice::FloatSeq leftKpos;
        Ice::FloatSeq leftDpos;
        Ice::FloatSeq leftKori;
        Ice::FloatSeq leftDori;
 
        Ice::FloatSeq rightKpos;
        Ice::FloatSeq rightDpos;
        Ice::FloatSeq rightKori;
        Ice::FloatSeq rightDori;
 
        float knull;
        float dnull;
 
        float maxJointVel;
        Ice::DoubleSeq initRatio;
    };
 
    interface NJointBimanualCCDMPVelocityControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(string whichDMP, Ice::StringSeq trajfiles);
        void learnDMPFromBothFiles(Ice::StringSeq leftFiles, Ice::StringSeq rightFiles);
        bool isFinished();
        void runDMP(Ice::DoubleSeq leftGoals, Ice::DoubleSeq rightGoals);
 
        void setRatios(Ice::DoubleSeq ratios);
 
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void setGoals(Ice::DoubleSeq goals);
 
        void changeLeader();
        double getVirtualTime();
 
        string getLeaderName();
    };
};