ControllerInterface.ice

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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::NJointControllerInterface
 * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/interface/serialization/Eigen.ice>
 
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
module armarx
{
    module NJointTaskSpaceDMPControllerMode
    {
        enum CartesianSelection
        {
            ePosition = 7,
            eOrientation = 8,
            eAll = 15
        };
    };
 
    class NJointTaskSpaceDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        float DMPKd = 20;
        int kernelSize = 100;
        double tau = 1;
        string dmpMode = "MinimumJerk";
        string dmpStyle = "Discrete";
        double dmpAmplitude = 1;
 
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double timeDuration = 10;
        double posToOriRatio = 100;
 
        // velocity controller configuration
        string nodeSetName = "";
        string tcpName = "";
        string frameName = "";
        NJointTaskSpaceDMPControllerMode::CartesianSelection mode =
            NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll;
 
        double maxLinearVel;
        double maxAngularVel;
        double maxJointVelocity;
        string debugName;
 
        float Kp_LinearVel;
        float Kd_LinearVel;
        float Kp_AngularVel;
        float Kd_AngularVel;
 
        float pos_filter;
        float vel_filter;
    };
 
    interface NJointTaskSpaceDMPControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals, double tau);
        void runDMPWithTime(Ice::DoubleSeq goals, double time);
 
        void setSpeed(double times);
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void removeAllViaPoints();
        void setGoals(Ice::DoubleSeq goals);
 
        double getCanVal();
        void resetDMP();
        void stopDMP();
        void pauseDMP();
        void resumeDMP();
 
        void setControllerTarget(float avoidJointLimitsKp,
                                 NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
        void setTorqueKp(StringFloatDictionary torqueKp);
        void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
        string getDMPAsString();
        Ice::DoubleSeq createDMPFromString(string dmpString);
 
        void setMPWeights(DoubleSeqSeq weights);
        DoubleSeqSeq getMPWeights();
 
        void setLinearVelocityKd(float kd);
        void setLinearVelocityKp(float kp);
        void setAngularVelocityKd(float kd);
        void setAngularVelocityKp(float kp);
    };
 
    class NJointCCDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        float DMPKd = 20;
        int kernelSize = 100;
        double tau = 1;
        int dmpMode = 1;
        int dmpNum = 2;
 
        // phaseStop technique
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
 
 
        // misc
        Ice::DoubleSeq timeDurations;
        Ice::StringSeq dmpTypes;
        Ice::DoubleSeq amplitudes;
 
 
        double posToOriRatio = 100;
 
        // velocity controller configuration
        string nodeSetName = "";
        string tcpName = "";
        NJointTaskSpaceDMPControllerMode::CartesianSelection mode =
            NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll;
    };
 
    interface NJointCCDMPControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(int dmpId, Ice::StringSeq trajfiles);
        bool isFinished();
        void runDMP();
 
        void setTemporalFactor(int dmpId, double tau);
        void setViaPoints(int dmpId, double canVal, Ice::DoubleSeq point);
        void setGoals(int dmpId, Ice::DoubleSeq goals);
 
        void setControllerTarget(float avoidJointLimitsKp,
                                 NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
        void setTorqueKp(StringFloatDictionary torqueKp);
        void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
    };
 
    class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        int kernelSize = 100;
        double dmpAmplitude = 1;
        double timeDuration = 10;
 
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double posToOriRatio = 100;
 
 
        // velocity controller configuration
        string nodeSetName = "";
 
        double maxLinearVel;
        double maxAngularVel;
        float maxJointVel;
        float avoidJointLimitsKp = 1;
 
        float Kpos;
        float Kori;
 
        string forceSensorName = "FT R";
        string forceFrameName = "ArmR8_Wri2";
        float forceFilter = 0.8;
        float waitTimeForCalibration = 0.1;
        float Kpf;
 
        float minimumReactForce = 0;
    };
 
    interface NJointPeriodicTSDMPControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
 
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals, double tau);
 
        void setSpeed(double times);
        void setGoals(Ice::DoubleSeq goals);
        void setAmplitude(double amplitude);
 
        double getCanVal();
    };
 
    class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        int kernelSize = 100;
        double dmpAmplitude = 1;
        double timeDuration = 10;
 
        double phaseL = 10;
        double phaseK = 10;
        float phaseDist0 = 50;
        float phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double posToOriRatio = 100;
 
 
        // velocity controller configuration
        string nodeSetName = "";
 
        float maxJointTorque;
        Ice::FloatSeq Kpos;
        Ice::FloatSeq Dpos;
        Ice::FloatSeq Kori;
        Ice::FloatSeq Dori;
 
        Ice::FloatSeq desiredNullSpaceJointValues;
        float Knull;
        float Dnull;
 
        string forceSensorName = "FT R";
        string forceFrameName = "ArmR8_Wri2";
        float forceFilter = 0.8;
        float waitTimeForCalibration = 0.1;
        float Kpf;
 
        float minimumReactForce = 0;
 
        float forceDeadZone;
        float velFilter;
 
        float maxLinearVel;
        float maxAngularVel;
 
        Ice::FloatSeq ws_x;
        Ice::FloatSeq ws_y;
        Ice::FloatSeq ws_z;
 
        bool ignoreWSLimitChecks = false;
 
        float adaptCoeff;
        float reactThreshold;
        float dragForceDeadZone;
        float adaptForceCoeff;
        float changePositionTolerance;
        float changeTimerThreshold;
 
        bool isManipulability = false;
        Ice::DoubleSeq kmani;
        Ice::DoubleSeq positionManipulability;
        Ice::DoubleSeq maniWeight;
    };
 
    interface NJointPeriodicTSDMPCompliantControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        void learnDMPFromTrajectory(TrajectoryBase trajectory);
 
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals, double tau);
 
        void setSpeed(double times);
        void setGoals(Ice::DoubleSeq goals);
        void setAmplitude(double amplitude);
        void setTargetForceInRootFrame(float force);
 
        double getCanVal();
    };
 
    class DeprecatedNJointTaskSpaceDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        float DMPKd = 20;
        int kernelSize = 100;
        double tau = 1;
        string dmpMode = "MinimumJerk";
        string dmpStyle = "Discrete";
        double dmpAmplitude = 1;
 
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double timeDuration = 10;
        double posToOriRatio = 100;
 
        // velocity controller configuration
        string nodeSetName = "";
        string tcpName = "";
        string frameName = "";
        NJointTaskSpaceDMPControllerMode::CartesianSelection mode =
            NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll;
 
        double maxLinearVel;
        double maxAngularVel;
        double maxJointVelocity;
        string debugName;
 
        float Kp_LinearVel;
        float Kd_LinearVel;
        float Kp_AngularVel;
        float Kd_AngularVel;
 
        float pos_filter;
        float vel_filter;
 
        string forceSensorName;
        float waitTimeForCalibration;
        float forceFilter;
        float forceDeadZone;
        Eigen::Vector3f forceThreshold;
        string forceFrameName = "ArmR8_Wri2";
    };
 
    interface DeprecatedNJointTaskSpaceDMPControllerInterface extends NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals, double tau);
        void runDMPWithTime(Ice::DoubleSeq goals, double time);
 
        void setSpeed(double times);
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void removeAllViaPoints();
        void setGoals(Ice::DoubleSeq goals);
 
        double getCanVal();
        void resetDMP();
        void stopDMP();
        void pauseDMP();
        void resumeDMP();
        bool isDMPRunning();
 
        void setControllerTarget(float avoidJointLimitsKp,
                                 NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
        void setTorqueKp(StringFloatDictionary torqueKp);
        void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
        string getDMPAsString();
        Ice::DoubleSeq createDMPFromString(string dmpString);
 
        void setMPWeights(DoubleSeqSeq weights);
        DoubleSeqSeq getMPWeights();
 
        void setLinearVelocityKd(float kd);
        void setLinearVelocityKp(float kp);
        void setAngularVelocityKd(float kd);
        void setAngularVelocityKp(float kp);
 
        void enableForceStop();
        void disableForceStop();
        void setForceThreshold(Eigen::Vector3f forceThreshold);
    };
 
    class DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig
    {
 
        // dmp configuration
        int kernelSize = 100;
        string dmpMode = "MinimumJerk";
        string dmpType = "Discrete";
        double timeDuration;
        string nodeSetName;
 
        // phaseStop technique
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double posToOriRatio = 100;
 
 
        Ice::FloatSeq Kpos;
        Ice::FloatSeq Dpos;
        Ice::FloatSeq Kori;
        Ice::FloatSeq Dori;
 
        Ice::FloatSeq Knull;
        Ice::FloatSeq Dnull;
 
        bool useNullSpaceJointDMP;
        Ice::FloatSeq defaultNullSpaceJointValues;
 
        float torqueLimit;
 
 
        string forceSensorName;
        float waitTimeForCalibration;
        float forceFilter;
        float forceDeadZone;
        Eigen::Vector3f forceThreshold;
        string forceFrameName = "ArmR8_Wri2";
    };
 
    interface DeprecatedNJointTaskSpaceImpedanceDMPControllerInterface extends
        NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);
        void setUseNullSpaceJointDMP(bool enable);
 
        bool isFinished();
        bool isDMPRunning();
        void runDMP(Ice::DoubleSeq goals);
        void runDMPWithTime(Ice::DoubleSeq goals, double timeDuration);
 
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void setGoals(Ice::DoubleSeq goals);
        void setDefaultNullSpaceJointValues(Eigen::VectorXf jointValues);
 
        double getVirtualTime();
 
        void resetDMP();
        void stopDMP();
        void resumeDMP();
        void removeAllViaPoints();
 
        void setMPWeights(DoubleSeqSeq weights);
        DoubleSeqSeq getMPWeights();
 
        void setLinearVelocityKd(Eigen::Vector3f kd);
        void setLinearVelocityKp(Eigen::Vector3f kp);
        void setAngularVelocityKd(Eigen::Vector3f kd);
        void setAngularVelocityKp(Eigen::Vector3f kp);
        void setNullspaceVelocityKd(Eigen::VectorXf jointValues);
        void setNullspaceVelocityKp(Eigen::VectorXf jointValues);
 
        void enableForceStop();
        void disableForceStop();
        void setForceThreshold(Eigen::Vector3f forceThreshold);
 
        string getDMPAsString();
        Ice::DoubleSeq createDMPFromString(string dmpString);
 
        double getCanVal();
    };
 
    class DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig extends NJointControllerConfig
    {
        // dmp configuration
        int kernelSize = 100;
        string dmpMode = "MinimumJerk";
        string dmpType = "Discrete";
        double timeDuration;
        string nodeSetName;
 
        // phaseStop technique
        double phaseL = 10;
        double phaseK = 10;
        double phaseDist0 = 50;
        double phaseDist1 = 10;
        double posToOriRatio = 100;
 
        // control parameter ts
        Eigen::Vector6f kpImpedance;
        Eigen::Vector6f kdImpedance;
        Eigen::Vector6f kpAdmittance;
        Eigen::Vector6f kdAdmittance;
        Eigen::Vector6f kmAdmittance;
 
        // nullspace config
        Eigen::VectorXf Knull;
        Eigen::VectorXf Dnull;
        bool useNullSpaceJointDMP;
        Eigen::VectorXf targetNullSpaceJointValues;
 
        float jointTorqueLimit;
        float qvelFilter;
 
        /// force torque sensor
        string forceSensorName;
        string forceFrameName = "ArmR8_Wri2";
        float forceFilter;
        float forceDeadZone;
        float torqueDeadZone;
        float waitTimeForCalibration;
 
        bool enableTCPGravityCompensation;
        float tcpMass = 0.0f;
        Eigen::Vector3f tcpCoMInForceSensorFrame;
        //        Eigen::Vector3f forceOffsetExternal;
        //        Eigen::Vector3f torqueOffsetExternal;
    };
 
    interface DeprecatedNJointTaskSpaceAdmittanceDMPControllerInterface extends
        NJointControllerInterface
    {
        void setTargetNullSpaceJointValues(Eigen::VectorXf jointValues);
 
        // MP related
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);
        void setUseNullSpaceJointDMP(bool enable);
 
        void setViaPoints(double canVal, Ice::DoubleSeq point);
        void setGoals(Ice::DoubleSeq goals);
        void setStartAndGoals(Ice::DoubleSeq starts, Ice::DoubleSeq goals);
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals);
        void runDMPWithTime(Ice::DoubleSeq goals, double timeDuration);
        double getVirtualTime();
        void resetDMP();
        void stopDMP();
        void resumeDMP();
        void pauseDMP();
        void removeAllViaPoints();
        void setMPWeights(DoubleSeqSeq weights);
        DoubleSeqSeq getMPWeights();
        string getDMPAsString();
        Ice::DoubleSeq createDMPFromString(string dmpString);
        double getCanVal();
 
        void setKpImpedance(Eigen::Vector6f kpImpedance);
        void setKdImpedance(Eigen::Vector6f kdImpedance);
 
        void setKpAdmittance(Eigen::Vector6f kpAdmittance);
        void setKdAdmittance(Eigen::Vector6f kdAdmittance);
        void setKmAdmittance(Eigen::Vector6f kmAdmittance);
 
        void setTCPMass(float mass);
        void setTCPCoMInFTFrame(Eigen::Vector3f com);
 
        void setNullspaceVelocityKd(Eigen::VectorXf jointValues);
        void setNullspaceVelocityKp(Eigen::VectorXf jointValues);
 
        //        RTController::ControllerInfo getControllerInfo();
        string getKinematicChainName();
 
        //        Eigen::Vector6f getFilteredForceTorque();
        void setPotentialForceBaseline(Eigen::Vector3f force, Eigen::Vector3f torque);
    };
 
    class DeprecatedNJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig
    {
        // dmp configuration
        int kernelSize = 100;
        double dmpAmplitude = 1;
        double timeDuration = 10;
        string nodeSetName = "";
 
        double phaseL = 10;
        double phaseK = 10;
        float phaseDist0 = 50;
        float phaseDist1 = 10;
        double phaseKpPos = 1;
        double phaseKpOri = 0.1;
        double posToOriRatio = 100;
 
        // controller gains
        Eigen::Vector6f kpImpedance;
        Eigen::Vector6f kdImpedance;
        Eigen::Vector4f pidForce;
 
        Eigen::VectorXf Knull;
        Eigen::VectorXf Dnull;
        Eigen::VectorXf targetNullSpaceJointValues;
 
        float jointTorqueLimit;
        float qvelFilter;
 
        //        float minimumReactForce = 0;
        //        float maxLinearVel;
        //        float maxAngularVel;
 
        /// adaptive settings
        Ice::FloatSeq ws_x;
        Ice::FloatSeq ws_y;
        Ice::FloatSeq ws_z;
        bool ignoreWSLimitChecks = false;
        float changePositionTolerance;
        float changeTimerThreshold;
 
        /// force torque sensor
        string forceSensorName = "FT R";
        string forceFrameName = "ArmR8_Wri2";
        float forceFilter = 0.8;
        float forceDeadZone;
        float torqueDeadZone;
        float waitTimeForCalibration = 0.1;
 
        bool enableTCPGravityCompensation;
        float tcpMass = 0.0f;
        Eigen::Vector3f tcpCoMInForceSensorFrame;
 
        /// tool setup (Effective frame in root)
        Eigen::Matrix4f toolFrameInRoot;
    };
 
    interface DeprecatedNJointPeriodicTSDMPCompliantControllerInterface extends
        NJointControllerInterface
    {
        void learnDMPFromFiles(Ice::StringSeq trajfiles);
        void learnDMPFromTrajectory(TrajectoryBase trajectory);
 
        bool isFinished();
        void runDMP(Ice::DoubleSeq goals, double tau);
 
        void resetDMP();
        void stopDMP();
        void resumeDMP();
        void pauseDMP();
 
        void setSpeed(double times);
        void setGoals(Ice::DoubleSeq goals);
        void setAmplitude(double amplitude);
        void setTargetForceInRootFrame(float force);
 
        void setKpImpedance(Eigen::Vector6f kpImpedance);
        void setKdImpedance(Eigen::Vector6f kdImpedance);
 
        double getCanVal();
 
        string getKinematicChainName();
    };
};