FTSensorTrigger.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     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h>
 
namespace armarx::control::common::ft
{
 
 
    struct FTSensorTriggerParams
    {
        float forceThreshold = 20.F;
 
        int windowSizeMs = 200;
        int cycleTimeMs = 10;
 
        Eigen::Vector3f forceDetectionMask = Eigen::Vector3f::Ones();
    };
 
    class FTSensorTrigger
    {
    public:
        using Params = FTSensorTriggerParams;
 
        FTSensorTrigger(armarx::armem::robot_state::RobotReader& robotReader,
                        const std::string& robotName,
                        const armem::robot_state::RobotReader::Hand& hand,
                        const Params& params = Params());
 
        FTSensorTrigger(FTSensorTrigger&) = delete;
 
        enum class Edge
        {
            RISING,
            FALLING
        };
 
        void waitForForceSpike(Edge edge) const;
        void waitForForceThreshold(float threshold) const;
 
    private:
        armarx::armem::robot_state::RobotReader& robotReader;
        const std::string robotName;
 
        const armem::robot_state::RobotReader::Hand hand;
        const Params params;
    };
 
 
} // namespace armarx::control::common::ft