KeypointsImpedanceController.cpp

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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    TaskSpaceActiveImpedanceControl::ArmarXObjects::NJointTaskSpaceImpedanceController
 * @author     zhou ( you dot zhou at kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "KeypointsImpedanceController.h"
 
namespace armarx::control::njoint_mp_controller::task_space
{
    NJointControllerRegistration<NJointKeypointsImpedanceMPController>
        registrationControllerNJointKeypointsImpedanceMPController(
            "NJointKeypointsImpedanceMPController");
 
    NJointKeypointsImpedanceMPController::NJointKeypointsImpedanceMPController(
        const RobotUnitPtr& robotUnit,
        const NJointControllerConfigPtr& config,
        const VirtualRobot::RobotPtr& robot) :
        NJointKeypointsImpedanceController{robotUnit, config, robot}, mp::MPPool{}
    {
        createMPs(configFileName);
    }
 
    std::string
    NJointKeypointsImpedanceMPController::getClassName(const Ice::Current&) const
    {
        return "NJointKeypointsImpedanceMPController";
    }
 
    void
    NJointKeypointsImpedanceMPController::reconfigureController(const std::string& filename,
                                                                const Ice::Current&)
    {
        NJointKeypointsImpedanceController::reconfigureController(filename);
        reconfigureMPs(filename);
    }
 
    void
    NJointKeypointsImpedanceMPController::additionalTask()
    {
        /// parse arguments and run mp
        for (auto mp : mps)
        {
            if (mp.second.mp->getClassName() == "KeypointsMP")
            {
                mp::KeypointsMPInputPtr in =
                    std::dynamic_pointer_cast<mp::KeypointsMPInput>(mp.second.input);
                in->keypointPosition = controlStatusBuffer.getReadBuffer().filteredKeypointPosition;
                in->keypointVelocity = controlStatusBuffer.getReadBuffer().currentKeypointVelocity;
                in->deltaT = controlStatusBuffer.getReadBuffer().deltaT;
                //            ARMARX_INFO << "additional Task: "  << VAROUT(in->keypointPosition) << VAROUT(in->keypointVelocity) << VAROUT(in->keypointVelocity.size());
            }
            else if (mp.second.mp->getClassName() == "JSMP")
            {
                mp::JSMPInputPtr in = std::dynamic_pointer_cast<mp::JSMPInput>(mp.second.input);
                in->angleRadian = controlStatusBuffer.getReadBuffer().qpos;
                in->angularVel = controlStatusBuffer.getReadBuffer().qvel;
                in->deltaT = controlStatusBuffer.getReadBuffer().deltaT;
            }
        }
        runMPs(true);
        for (auto mp : mps)
        {
            if (mp.second.mp->getClassName() == "KeypointsMP" and !mp.second.mp->isFinished())
            {
                mp::KeypointsMPOutputPtr out =
                    std::dynamic_pointer_cast<mp::KeypointsMPOutput>(mp.second.output);
                getWriterControlStruct().desiredKeypointPosition = out->keypointPosition;
                getWriterControlStruct().desiredKeypointVelocity = out->keypointVelocity;
                writeControlStruct();
                //            ARMARX_INFO << "additional Task: "  << VAROUT(out->keypointPosition) << VAROUT(out->keypointVelocity) << VAROUT(out->keypointVelocity.size());
            }
            else if (mp.second.mp->getClassName() == "JSMP" and !mp.second.mp->isFinished())
            {
                mp::JSMPOutputPtr out = std::dynamic_pointer_cast<mp::JSMPOutput>(mp.second.output);
                getWriterControlStruct().desiredNullspaceJointAngles = out->angleRadian;
                writeControlStruct();
            }
        }
    }
 
    //void NJointKeypointsImpedanceMPController::deactivateController(const Ice::Current &)
    //{
    //    for (auto mp: mps)
    //    {
    //        mp.second.mp->stop();
    //    }
    //}
 
    void
    NJointKeypointsImpedanceMPController::rtPreActivateController()
    {
        ARMARX_IMPORTANT << "rt pre activate: reinitialize the mp input output, as well as the rt "
                            "related buffer values";
        NJointKeypointsImpedanceController::rtPreActivateController();
        for (auto mp : mps)
        {
            if (mp.second.mp->getClassName() == "KeypointsMP")
            {
                ARMARX_IMPORTANT << "initialize input output buffers between KeypointsMP and "
                                    "keypoint controllers";
 
                auto in = std::dynamic_pointer_cast<mp::KeypointsMPInput>(mp.second.input);
                in->keypointPosition = controller.s.filteredKeypointPosition;
                in->keypointVelocity = controller.s.currentKeypointVelocity;
 
                auto out = std::dynamic_pointer_cast<mp::KeypointsMPOutput>(mp.second.output);
                out->keypointPosition = controller.s.filteredKeypointPosition;
                out->keypointVelocity = controller.s.currentKeypointVelocity;
                //            ARMARX_INFO << VAROUT(in->keypointPosition) << VAROUT(in->keypointVelocity) << VAROUT(out->keypointPosition) << VAROUT(out->keypointVelocity) << VAROUT(controller.s.numPoints);
            }
            else if (mp.second.mp->getClassName() == "JSMP")
            {
                ARMARX_IMPORTANT
                    << "initialize input output buffers between JSMP and keypoint controllers";
                auto in = std::dynamic_pointer_cast<mp::JSMPInput>(mp.second.input);
                auto out = std::dynamic_pointer_cast<mp::JSMPOutput>(mp.second.output);
                in->angleRadian = controller.s.qpos;
                in->angularVel = controller.s.qvel;
                out->angleRadian = controller.s.qpos;
                out->angularVel = controller.s.qvel;
            }
        }
    }
} // namespace armarx::control::njoint_mp_controller::task_space