CartesianVelocityControllerWithRamp.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     Sonja Marahrens (sonja dot marahrens)
 * @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/RobotNodeSet.h>
 
#include "CartesianVelocityController.h"
#include "CartesianVelocityRamp.h"
#include "JointVelocityRamp.h"
 
namespace armarx
{
    class CartesianVelocityControllerWithRamp;
    using CartesianVelocityControllerWithRampPtr =
        std::shared_ptr<CartesianVelocityControllerWithRamp>;
 
    class CartesianVelocityControllerWithRamp
    {
    public:
        CartesianVelocityControllerWithRamp(const VirtualRobot::RobotNodeSetPtr& rns,
                                            const Eigen::VectorXf& currentJointVelocity,
                                            VirtualRobot::IKSolver::CartesianSelection mode,
                                            float maxPositionAcceleration,
                                            float maxOrientationAcceleration,
                                            float maxNullspaceAcceleration,
                                            const VirtualRobot::RobotNodePtr& tcp = nullptr);
 
        CartesianVelocityControllerWithRamp(CartesianVelocityControllerWithRamp&&) = default;
        CartesianVelocityControllerWithRamp&
        operator=(CartesianVelocityControllerWithRamp&&) = default;
 
        [[deprecated("computed null space velocity does not match pseudo inverse svd method in "
                     "simox. never use this function.")]] void
        setCurrentJointVelocity(const Eigen::Ref<const Eigen::VectorXf>& currentJointVelocity);
 
        void switchMode(const Eigen::VectorXf& currentJointVelocity,
                        VirtualRobot::IKSolver::CartesianSelection mode);
        VirtualRobot::IKSolver::CartesianSelection getMode();
 
        Eigen::VectorXf
        calculate(const Eigen::VectorXf& cartesianVel, float jointLimitAvoidanceScale, float dt);
        Eigen::VectorXf calculate(const Eigen::VectorXf& cartesianVel,
                                  const Eigen::VectorXf& nullspaceVel,
                                  float dt);
 
        void setMaxAccelerations(float maxPositionAcceleration,
                                 float maxOrientationAcceleration,
                                 float maxNullspaceAcceleration);
 
        float getMaxOrientationAcceleration();
        float getMaxPositionAcceleration();
        float getMaxNullspaceAcceleration();
 
 
        CartesianVelocityController controller;
 
    private:
        VirtualRobot::IKSolver::CartesianSelection mode;
        CartesianVelocityRamp cartesianVelocityRamp;
        JointVelocityRamp nullSpaceVelocityRamp;
    };
} // namespace armarx