NJointControllers.cpp

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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    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "NJointControllers.h"
 
#include <SimoxUtility/color/Color.h>
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/RobotNodeSet.h>
 
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/PackagePath.h> // for GUI
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h> // for GUI
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
 
#include <armarx/control/common/aron_conversions.h> // for GUI
#include <armarx/control/common/utils.h>
 
namespace armarx::control::njoint_controller::task_space
{
    /// ================================== TSMixImpVel ==================================
    // NJointControllerRegistration<NJointTSMixImpVelController>
    //     registrationControllerNJointTaskspaceController(
    //         "NJointTSMixImpVelController");
 
    std::string NJointTSMixImpVelController::getClassName(const Ice::Current &) const
    {
        return "NJointTSMixImpVelController";
    }
 
    void
    NJointTSMixImpVelController::validateConfigDataCheckSize(Config& configData, ArmPtr& arm)
    {
        const auto nDoF = static_cast<Eigen::Index>(arm->jointNames.size());
 
        const auto checkSize = [nDoF](const auto& v) { ARMARX_CHECK_EQUAL(v.rows(), nDoF); };
        const auto checkNonNegative = [](const auto& v) { ARMARX_CHECK((v.array() >= 0).all()); };
        checkSize(configData.desiredNullspaceJointAngles.value());
        checkSize(configData.kdNullspaceTorque);
        checkSize(configData.kpNullspaceTorque);
        checkSize(configData.kdNullspaceVel);
        checkSize(configData.kpNullspaceVel);
 
        checkNonNegative(configData.kdNullspaceTorque);
        checkNonNegative(configData.kpNullspaceTorque);
        checkNonNegative(configData.kpNullspaceVel);
        checkNonNegative(configData.kdNullspaceVel);
        checkNonNegative(configData.kdImpedance);
        checkNonNegative(configData.kpImpedance);
    }
 
    void
    NJointTSMixImpVelController::limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm)
    {
        auto cfg = arm->bufferConfigRtToOnPublish.getUpToDateReadBuffer();
        common::debugEigenVec(datafields, "kpImpedance", cfg.kpImpedance);
        common::debugEigenVec(datafields, "kdImpedance", cfg.kdImpedance);
        common::debugEigenVec(datafields, "kpCartesianVel", cfg.kpCartesianVel);
        common::debugEigenVec(datafields, "kdCartesianVel", cfg.kdCartesianVel);
        if (cfg.desiredNullspaceJointAngles.has_value())
        {
            common::debugEigenVec(datafields,
                                  "desiredNullspaceJointAngles",
                                  cfg.desiredNullspaceJointAngles.value());
        }
 
        datafields["poseError_threshold_position"] = new Variant(cfg.safeDistanceMMToGoal);
        datafields["poseError_threshold_angle"] = new Variant(cfg.safeRotAngleDegreeToGoal);
        datafields["safeForceGuardThreshold"] =
                new Variant(cfg.ftConfig.safeGuardForceThreshold);
        datafields["safeTorqueGuardThreshold"] =
                new Variant(cfg.ftConfig.safeGuardTorqueThreshold);
    }
 
    /// ================================== TSImp ==================================
    std::string NJointTSImpController::getClassName(const Ice::Current &) const
    {
        return "NJointTSImpController";
    }
 
    void
    NJointTSImpController::validateConfigDataCheckSize(Config& configData, ArmPtr& arm)
    {
        const auto nDoF = static_cast<Eigen::Index>(arm->jointNames.size());
 
        const auto checkSize = [nDoF](const auto& v) { ARMARX_CHECK_EQUAL(v.rows(), nDoF); };
        const auto checkNonNegative = [](const auto& v) { ARMARX_CHECK((v.array() >= 0).all()); };
        checkSize(configData.desiredNullspaceJointAngles.value());
        checkSize(configData.kdNullspaceTorque);
        checkSize(configData.kpNullspaceTorque);
 
        checkNonNegative(configData.kdNullspaceTorque);
        checkNonNegative(configData.kpNullspaceTorque);
        checkNonNegative(configData.kdImpedance);
        checkNonNegative(configData.kpImpedance);
    }
 
    void
    NJointTSImpController::limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm)
    {
        auto cfg = arm->bufferConfigRtToOnPublish.getUpToDateReadBuffer();
        common::debugEigenVec(datafields, "kpImpedance", cfg.kpImpedance);
        common::debugEigenVec(datafields, "kdImpedance", cfg.kdImpedance);
        if (cfg.desiredNullspaceJointAngles.has_value())
        {
            common::debugEigenVec(datafields,
                                  "desiredNullspaceJointAngles",
                                  cfg.desiredNullspaceJointAngles.value());
        }
 
        datafields["poseError_threshold_position"] = new Variant(cfg.safeDistanceMMToGoal);
        datafields["poseError_threshold_angle"] = new Variant(cfg.safeRotAngleDegreeToGoal);
        datafields["safeForceGuardThreshold"] =
                new Variant(cfg.ftConfig.safeGuardForceThreshold);
        datafields["safeTorqueGuardThreshold"] =
                new Variant(cfg.ftConfig.safeGuardTorqueThreshold);
    }
} // namespace armarx::control::njoint_controller::task_space