deprecated__njoint__mp__controller_2adaptive_2ControllerInterface_8ice_source.html

/*

 * 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    armarx::control::deprecated_njoint_mp_controller::adaptive::ControllerInterface

 * @author     jianfeng gao ( jianfeng dot gao 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

{

    class NJointTaskSpaceAdaptiveDMPControllerConfig extends NJointControllerConfig

    {


        // dmp configuration

        int kernelSize = 100;

        string dmpMode = "MinimumJerk";

        string dmpType = "Discrete";

        double timeDuration;

        string nodeSetName;


        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 filterCoeff;

    };


    interface NJointTaskSpaceAdaptiveDMPControllerInterface extends NJointControllerInterface

    {

        void learnDMPFromFiles(Ice::StringSeq trajfiles);

        void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);


        bool isFinished();

        void runDMP(Ice::DoubleSeq goals);

        void runDMPWithTime(Ice::DoubleSeq goals, double timeDuration);


        void setViaPoints(double canVal, Ice::DoubleSeq point);

        void setGoals(Ice::DoubleSeq goals);


        double getVirtualTime();

        void setCanVal(double canVal);


        void resetDMP();

        void stopDMP();

        void resumeDMP();


        void setKdImpedance(Ice::FloatSeq dampings);

        void setKpImpedance(Ice::FloatSeq stiffness);

        void setKpNull(Ice::FloatSeq knull);

        void setKdNull(Ice::FloatSeq dnull);

        Ice::FloatSeq getForce();

        Ice::FloatSeq getVelocityInMM();

        void removeAllViaPoints();


        void setUseNullSpaceJointDMP(bool useJointDMP);

        void setDefaultJointValues(Ice::FloatSeq desiredJointVals);

    };


    class NJointAdaptiveWipingControllerConfig 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;

        Ice::FloatSeq Knull;

        Ice::FloatSeq 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;


        float adaptCoeff;

        float reactThreshold;

        float dragForceDeadZone;

        float adaptForceCoeff;

        float changePositionTolerance;

        float changeTimerThreshold;


        Ice::FloatSeq ftOffset;

        Ice::FloatSeq handCOM;

        float handMass;

        float angularKp;

        float frictionCone;

    };


    interface NJointAdaptiveWipingControllerInterface 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 NJointAnomalyDetectionAdaptiveWipingControllerConfig 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 desiredNullSpaceJointValues;


        Ice::FloatSeq Kpos;

        Ice::FloatSeq Dpos;

        Ice::FloatSeq Kori;

        Ice::FloatSeq Dori;

        Ice::FloatSeq Knull;

        Ice::FloatSeq Dnull;


        string forceSensorName = "FT R";

        string forceFrameName = "ArmR8_Wri2";

        float forceFilter = 0.8;

        float waitTimeForCalibration = 0.1;


        // anomaly detection and friction estimation

        int velocityHorizon = 100;

        int frictionHorizon = 100;


        // pid params

        bool isForceCtrlInForceDir;

        bool isForceControlEnabled;

        bool isRotControlEnabled;

        bool isTorqueControlEnabled;

        bool isLCRControlEnabled;

        Ice::FloatSeq pidForce;

        Ice::FloatSeq pidRot;

        Ice::FloatSeq pidTorque;

        Ice::FloatSeq pidLCR;


        float minimumReactForce = 0;

        float forceDeadZone;

        float velFilter;


        float maxLinearVel;

        float maxAngularVel;


        Ice::FloatSeq ws_x;

        Ice::FloatSeq ws_y;

        Ice::FloatSeq ws_z;


        float adaptCoeff;

        float reactThreshold;

        float dragForceDeadZone;

        float adaptForceCoeff;

        float changePositionTolerance;

        float changeTimerThreshold;


        Ice::FloatSeq ftOffset;

        Ice::FloatSeq handCOM;

        float handMass;


        float ftCommandFilter;

        float frictionCone;

        float fricEstiFilter;

        float velNormThreshold;

        float maxInteractionForce;


        float increaseKpForceCoeff;

        float increaseKpRotCoeff;

        float decreaseKpForceCoeff;

        float decreaseKpRotCoeff;


        float adaptRateIncrease;

        float adaptRateDecrease;

        float adaptRateDecreaseRot;

        float adaptCoeffKdImpIncrease;


        float increaseKpOriCoeff;

        float increaseKdOriCoeff;

        float increaseKpNullCoeff;

        float increaseKdNullCoeff;


        bool isAdaptOriImpEnabled;

        float loseContactForceIntThreshold;

        bool loseContactDetectionEnabled;

        int loseContactCounterMax;

        float rotAngleSigmoid;

        bool useDMPInGlobalFrame;

    };


    interface NJointAnomalyDetectionAdaptiveWipingControllerInterface 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();


        Ice::FloatSeq getAnomalyInput();

        Ice::FloatSeq getAnomalyOutput();


        void setTrigerAbnormalEvent(bool abnormal);


        void pauseDMP();

        void resumeDMP();

    };

};