TSMP.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     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/serialization/Eigen.h>
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
#include "MP.h"
 
namespace armarx::control::common::mp
{
 
    struct TSMPInput : virtual MPInput
    {
        Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
        Eigen::Vector6f vel = Eigen::Vector6f::Zero();
        double deltaT;
    };
 
    struct TSMPOutput : virtual MPOutput
    {
        Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
        Eigen::Vector6f vel = Eigen::Vector6f::Zero();
    };
 
    using TSMPInputPtr = std::shared_ptr<TSMPInput>;
    using TSMPOutputPtr = std::shared_ptr<TSMPOutput>;
 
    class TSMP : virtual public MP
    {
    public:
        TSMP(const MPConfig& c);
        ~TSMP(){};
 
        void computePhaseStop(const MPInputPtr input,
                              const MPOutputPtr output,
                              PhaseStopResult& phase) override;
        void run(MPInputPtr, MPOutputPtr, const PhaseStopResult& phase) override;
        void validateInitialState(const DVec& starts) override;
        DVec validateViaPoint(const DVec& viapoint) override;
 
        Eigen::Quaterniond previousAngularVelocity = Eigen::Quaterniond::Identity();
 
        bool isDisturbance = false;
    };
 
    typedef std::shared_ptr<TSMP> TSMPPtr;
 
} // namespace armarx::control::common::mp