FTSensor.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 <Eigen/Core>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h>
 
#include <armarx/control/common/ft/aron/FTConfig.aron.generated.h>
 
namespace armarx
{
    using RobotUnitPtr = IceUtil::Handle<class RobotUnit>;
    class SensorValueForceTorque;
} // namespace armarx
 
namespace armarx::control::common::ft
{
    /// TODO: this has to be moved to the robot model (e.g. the corresponding hand model)
    /// The values below corresponds to the Armar-6 hands,
    /// keep it here for now to continue working on controllers
    struct FTCalibrateDefaultValue
    {
        float tcpMassRight = 1.16064;
        Eigen::Vector3f tcpCoMInFTFrameRight{-0.00258287, -0.00108265, 0.09719};
        float tcpMassLeft = 1.14715;
        Eigen::Vector3f tcpCoMInFTFrameLeft{-0.00330519, 0.000470962, 0.100648};
    };
 
    class FTSensor
    {
    public:
        using FTConfig = arondto::FTConfig;
 
        FTSensor(){};
        ~FTSensor(){};
 
        void initialize(const VirtualRobot::RobotNodeSetPtr& rns,
                        const armarx::RobotUnitPtr& robotUnit,
                        const FTConfig& c);
        void reset();
        void
        updateStatus(const FTConfig& c, Eigen::Vector6f& currentFT, double deltaT, bool firstRun);
        void resetSafeGuardOffset(const FTConfig& c);
        void enableSafeGuard(bool enableForceGuard, bool enableTorqueGuard);
        bool isForceGuardEnabled();
        bool isTorqueGuardEnabled();
        // bool isForceGuardEnabled();
        // bool isTorqueGuardEnabled();
        bool isSafe(const FTConfig& c);
        bool calibrate(const FTConfig& c, double deltaT);
        Eigen::Vector6f& compensateTCPGravity(const FTConfig& data);
        Eigen::Vector6f& getFilteredForceTorque(const FTConfig& data);
 
        std::atomic_bool calibrated{false};
        std::atomic_bool ftSafe{true};
        std::atomic_bool ftWasNotSafe{false};
 
        Eigen::Vector3f& getSafeGuardForceOffset();
 
    private:
        std::string sensorName;
        std::string sensorFrame;
 
        FTCalibrateDefaultValue calibDefaults;
 
        const SensorValueForceTorque* forceSensor;
        VirtualRobot::RobotNodePtr sensorNode;
 
        Eigen::Vector6f tcpGravityCompensation;
        Eigen::Vector6f ft;
 
        /// local variables
        float tcpMass = 0.0f;
        Eigen::Vector3f tcpCoMInFTSensorFrame;
 
        Eigen::Matrix3f sensorOriInRoot;
 
        /// for filtering and calibration
        Eigen::Vector3f forceOffset;
        Eigen::Vector3f torqueOffset;
        Eigen::Vector3f filteredForce;
        Eigen::Vector3f filteredTorque;
        Eigen::Vector3f rawForce;
        Eigen::Vector3f rawTorque;
        Eigen::Vector3f filteredForceInRoot;
        Eigen::Vector3f filteredTorqueInRoot;
        Eigen::Vector3f safeGuardForceOffset;
        Eigen::Vector3f safeGuardTorqueOffset;
        std::atomic_bool safeGuardEnabledForce{false};
        std::atomic_bool safeGuardEnabledTorque{false};
        std::atomic_bool resetForceGuard{false};
        std::atomic_bool resetTorqueGuard{false};
        float timeForCalibration;
 
 
        /// for gravity compensation
        Eigen::Vector3f gravity{0.0, 0.0, -9.8};
        Eigen::Vector3f tcpGravForceVec;
        Eigen::Vector3f tcpGravTorqueVec;
 
        Eigen::Matrix4f forceFrameInTCP = Eigen::Matrix4f::Identity();
        Eigen::Vector3f tcpCoMInTCPFrame;
    };
} // namespace armarx::control::common::ft