TaskSpaceVMP.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/>.
 *
 * @package    RobotAPI::ArmarXObjects::DMPController
 * @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
 */
 
#pragma once
 
#include <boost/shared_ptr.hpp>
 
#include <Ice/Handle.h>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <dmp/representation/trajectory.h>
 
namespace DMP
{
    using UMITSMPPtr = boost::shared_ptr<class UMITSMP>;
}
 
namespace armarx
{
    using TrajectoryPtr = IceInternal::Handle<class Trajectory>;
}
 
namespace armarx::control::deprecated_njoint_mp_controller::tsvmp
{
 
    struct PhaseStopParams
    {
        float goDist = 80;
        float backDist = 50;
        float maxValue = 100;
        float slop = 1000;
        float Kpos = 1;
        float Dpos = 2;
        float Kori = 1;
        float Dori = 0;
        float mm2radi = 10;
    };
 
    struct TaskSpaceDMPControllerConfig
    {
        int DMPKernelSize = 50;
        std::string DMPMode = "Linear";
        std::string DMPStyle = "Discrete";
        float DMPAmplitude = 1;
        float oriAmplitude = 1;
        float motionTimeDuration = 10;
        PhaseStopParams phaseStopParas;
    };
 
    struct DebugInfo
    {
        double canVal;
        double mpcFactor;
        double poseError;
        double posiError;
        double oriError;
    };
 
    /**
    * @defgroup Library-TaskSpaceDMPController TaskSpaceDMPController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library TaskSpaceDMPController.
    *
    * @class TaskSpaceDMPController
    * @ingroup Library-TaskSpaceDMPController
    * @brief Brief description of class TaskSpaceDMPController.
    *
    * Detailed description of class TaskSpaceDMPController.
    */
    class TaskSpaceDMPController
    {
    public:
        TaskSpaceDMPController(std::string name,
                               const TaskSpaceDMPControllerConfig& config,
                               bool isPhaseStopControl = true);
 
        std::string getName();
 
 
        void flow(double deltaT, const Eigen::Matrix4f& currentPose, const Eigen::VectorXf& twist);
        double flow(double canVal,
                    double deltaT,
                    const Eigen::Matrix4f& currentPose,
                    const Eigen::VectorXf& twist);
 
        Eigen::VectorXf getTargetVelocity();
        std::vector<double> getTargetPose();
        Eigen::Matrix4f getTargetPoseMat();
        Eigen::Matrix4f getIntegratedPoseMat();
 
        void learnDMPFromFiles(const std::vector<std::string>& fileNames,
                               const std::vector<double>& ratios);
        void learnDMPFromFiles(const std::vector<std::string>& fileNames);
 
        void learnDMPFromSampledTrajectory(const DMP::Vec<DMP::SampledTrajectoryV2>& trajs);
        void learnDMPFromTrajectory(const TrajectoryPtr& traj);
 
        void loadDMPFromXML(const std::string& dmpXML);
        void loadDMPFromString(const std::string& dmpStr);
 
        void saveDMPToXML(const std::string& dmpXML);
        std::string saveDMPToString();
 
        void setViaPose(double canVal, const Eigen::Matrix4f& viaPose);
        void setViaPose(double canVal, const std::vector<double>& viaPoseWithQuaternion);
 
        void removeAllViaPoints();
        void prepareExecution(const Eigen::Matrix4f& currentPose, const Eigen::Matrix4f& goalPose);
        void prepareExecution(const std::vector<double>& currentPoseVec,
                              const std::vector<double>& goalPoseVec);
 
        void setSpeed(double times);
        void setAmplitude(double amp);
 
        void setGoalPose(const Eigen::Matrix4f& goalPose);
        void setGoalPoseVec(const std::vector<double> goalPoseVec);
 
        void learnDMPFromSampledTrajectory(const DMP::Vec<DMP::SampledTrajectoryV2>& trajs,
                                           const std::vector<double>& ratios);
        void setRatios(const std::vector<double>& ratios);
 
        DebugInfo debugData;
        std::vector<double> eigen4f2vec(const Eigen::Matrix4f& pose);
 
        DMP::UMITSMPPtr getDMP();
 
        void pauseController();
        void resumeController();
 
        void setWeights(const std::vector<std::vector<double>>& weights);
        void setTranslWeights(const std::vector<std::vector<double>>& weights);
        void setRotWeights(const std::vector<std::vector<double>>& weights);
 
        DMP::DVec2d getWeights();
        DMP::DVec2d getTranslWeights();
        DMP::DVec2d getRotWeights();
 
        double canVal;
        bool isPhaseStopControl;
        std::string dmpName;
        DMP::UMITSMPPtr dmpPtr;
        TaskSpaceDMPControllerConfig config;
 
    private:
        double tau;
        DMP::DVec goalPoseVec;
 
        Eigen::VectorXf targetVel;
        DMP::DVec targetPoseVec;
 
        DMP::Vec<DMP::DMPState> currentState;
        bool paused;
 
 
        bool isDisturbance;
 
 
        void getError(const Eigen::Matrix4f& pose,
                      Eigen::Vector3f& position,
                      Eigen::Quaterniond& quaternion,
                      double& posiError,
                      double& oriError);
 
        Eigen::Quaterniond oldDMPAngularVelocity;
    };
 
    using TaskSpaceDMPControllerPtr = std::shared_ptr<TaskSpaceDMPController>;
 
} // namespace armarx::control::deprecated_njoint_mp_controller::tsvmp