CartesianPositionController.h

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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     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Dense>
 
#include <VirtualRobot/IK/IKSolver.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/observers/AbstractObjectSerializer.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
#include <RobotAPI/interface/core/CartesianPositionControllerConfig.h>
 
namespace armarx
{
    class CartesianPositionController;
    using CartesianPositionControllerPtr = std::shared_ptr<CartesianPositionController>;
 
    // This is a P-controller. In: Target pose, out Cartesian velocity.
    class CartesianPositionController
    {
    public:
        CartesianPositionController(const VirtualRobot::RobotNodePtr& tcp,
                                    const VirtualRobot::RobotNodePtr& referenceFrame = nullptr);
 
        CartesianPositionController(CartesianPositionController&&) = default;
        CartesianPositionController& operator=(CartesianPositionController&&) = default;
 
        Eigen::VectorXf calculate(const Eigen::Matrix4f& targetPose,
                                  VirtualRobot::IKSolver::CartesianSelection mode) const;
        Eigen::VectorXf calculatePos(const Eigen::Vector3f& targetPos) const;
 
        float getPositionError(const Eigen::Matrix4f& targetPose) const;
        float getOrientationError(const Eigen::Matrix4f& targetPose) const;
        static float GetPositionError(const Eigen::Matrix4f& targetPose,
                                      const VirtualRobot::RobotNodePtr& tcp,
                                      const VirtualRobot::RobotNodePtr& referenceFrame = nullptr);
        static float
        GetOrientationError(const Eigen::Matrix4f& targetPose,
                            const VirtualRobot::RobotNodePtr& tcp,
                            const VirtualRobot::RobotNodePtr& referenceFrame = nullptr);
        static bool Reached(const Eigen::Matrix4f& targetPose,
                            const VirtualRobot::RobotNodePtr& tcp,
                            bool checkOri,
                            float thresholdPosReached,
                            float thresholdOriReached,
                            const VirtualRobot::RobotNodePtr& referenceFrame = nullptr);
        bool reached(const Eigen::Matrix4f& targetPose,
                     VirtualRobot::IKSolver::CartesianSelection mode,
                     float thresholdPosReached,
                     float thresholdOriReached);
 
        Eigen::Vector3f getPositionDiff(const Eigen::Matrix4f& targetPose) const;
        Eigen::Vector3f getPositionDiffVec3(const Eigen::Vector3f& targetPosition) const;
        Eigen::Vector3f getOrientationDiff(const Eigen::Matrix4f& targetPose) const;
        VirtualRobot::RobotNodePtr getTcp() const;
 
        float KpPos = 1;
        float KpOri = 1;
        float maxPosVel = -1;
        float maxOriVel = -1;
 
 
    private:
        VirtualRobot::RobotNodePtr tcp;
        VirtualRobot::RobotNodePtr referenceFrame;
    };
} // namespace armarx
 
namespace armarx::VariantType
{
    // variant types
    const VariantTypeId CartesianPositionControllerConfig =
        Variant::addTypeName("::armarx::CartesianPositionControllerConfig");
} // namespace armarx::VariantType
 
namespace armarx
{
    class CartesianPositionControllerConfig : virtual public CartesianPositionControllerConfigBase
    {
    public:
        CartesianPositionControllerConfig();
 
        // inherited from VariantDataClass
        Ice::ObjectPtr
        ice_clone() const override
        {
            return this->clone();
        }
 
        VariantDataClassPtr
        clone(const Ice::Current& = ::Ice::Current()) const override
        {
            return new CartesianPositionControllerConfig(*this);
        }
 
        std::string output(const Ice::Current& c = ::Ice::Current()) const override;
 
        VariantTypeId
        getType(const Ice::Current& = ::Ice::Current()) const override
        {
            return VariantType::CartesianPositionControllerConfig;
        }
 
        bool
        validate(const Ice::Current& = ::Ice::Current()) override
        {
            return true;
        }
 
        friend std::ostream&
        operator<<(std::ostream& stream, const CartesianPositionControllerConfig& rhs)
        {
            stream << "CartesianPositionControllerConfig: " << std::endl
                   << rhs.output() << std::endl;
            return stream;
        }
 
    public: // serialization
        void serialize(const armarx::ObjectSerializerBasePtr& serializer,
                       const ::Ice::Current& = ::Ice::Current()) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer,
                         const ::Ice::Current& = ::Ice::Current()) override;
    };
 
    typedef IceInternal::Handle<CartesianPositionControllerConfig>
        CartesianPositionControllerConfigPtr;
} // namespace armarx