SafetyImpedanceController.h

Go to the documentation of this file.

/*
 * 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       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/Robot.h>
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/control/common/control_law/SafetyTaskspaceImpedanceController.h>
#include <armarx/control/common/device.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
#include <simox/control/environment/CollisionRobot.h>
#include <simox/control/geodesics/metric/inertia.h>
#include <simox/control/impl/simox/robot/Robot.h>
 
namespace armarx::control::njoint_controller::task_space
{
    namespace law = armarx::control::common::control_law;
 
    /**
    * @defgroup Library-NJointTaskspaceImpedanceController NJointTaskspaceSafetyImpedanceController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointTaskspaceSafetyImpedanceController.
    *
    * @class NJointTaskspaceSafetyImpedanceController
    * @ingroup Library-NJointTaskspaceImpedanceController
    * @brief Brief description of class NJointTaskspaceSafetyImpedanceController.
    *
    * Detailed description of class NJointTaskspaceSafetyImpedanceController.
    */
    class NJointTaskspaceSafetyImpedanceController :
        virtual public NJointController,
        virtual public NJointTaskspaceSafetyImpedanceControllerInterface,
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
        using Config = law::SafetyTaskspaceImpedanceController::Config;
        using ConfigDict = law::SafetyTaskspaceImpedanceController::ConfigDict;
        using RtStatus = law::SafetyTaskspaceImpedanceController::RtStatus;
 
        struct ArmData
        {
            /// devices
            common::SensorDevicesForNJointTorqueController sensorDevices;
            std::vector<ControlTarget1DoFActuatorTorque*> targets;
 
            /// names
            std::string kinematicChainName;
            std::vector<std::string> jointNames;
            std::string tcpName;
 
            /// controller (maths)
            law::SafetyTaskspaceImpedanceController controller;
 
            /// set data containers and buffers
            Config nonRtConfig;
            Config rtConfig;
            TripleBuffer<Config> bufferConfigUserToNonRt;
            TripleBuffer<Config> bufferConfigNonRtToRt;
            TripleBuffer<Config> bufferConfigRtToOnPublish;
            TripleBuffer<Config> bufferConfigRtToUser;
 
            RtStatus rtStatusInNonRT;
            RtStatus rtStatus;
            TripleBuffer<RtStatus> bufferRtStatusToOnPublish;
            TripleBuffer<RtStatus> bufferRtStatusToUser;
            TripleBuffer<RtStatus> bufferRtStatusToNonRt;
 
            /// flags
            std::atomic_bool rtFirstRun{true};
            std::atomic_bool rtReady{false};
            std::atomic_bool reInitPreActivate{false};
 
            /// robot
            VirtualRobot::RobotPtr nonRtRobot;
 
            /// self-collision avoidance
            std::shared_ptr<simox::control::geodesics::metric::Inertia> inertiaPtr;
            std::shared_ptr<std::vector<simox::control::environment::DistanceResult>>
                collisionPairsPtr;
            std::shared_ptr<std::vector<int>> pointsOnArm;
            int pointsOnArmIndex;
            // reduced robot required to get node where contact point is located to compute Jacobian
            std::shared_ptr<simox::control::simox::robot::Robot> simoxReducedRobotPtr;
        };
 
        using ArmPtr = std::unique_ptr<ArmData>;
 
        NJointTaskspaceSafetyImpedanceController(const RobotUnitPtr& robotUnit,
                                                 const NJointControllerConfigPtr& config,
                                                 const VirtualRobot::RobotPtr&);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
 
        /// NJointController interface
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool updateTargetPose(const TargetPoseMap& targetPoseMap,
                              const TargetNullspaceMap& targetNullspaceMap,
                              const Ice::Current& = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        Ice::FloatSeq getTCPVel(const std::string& rns,
                                const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        /// ft sensor
        void calibrateFTSensor(const Ice::Current&) override;
        void
        enableSafeGuardForceTorque(const std::string& nodeSetName,
                                   const bool forceGuard,
                                   const bool torqueGuard,
                                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool isSafeForceTorque(const std::string& nodeSetName,
                               const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
    protected:
        virtual void additionalTask();
        void validateConfigData(Config& config, ArmPtr& arm);
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
 
        void limbInit(const std::string nodeSetName,
                      ArmPtr& arm,
                      Config& cfg,
                      VirtualRobot::RobotPtr& nonRtRobotPtr,
                      std::shared_ptr<std::vector<::simox::control::environment::DistanceResult>>
                          collisionPairs);
        void limbNonRT(ArmPtr& arm);
        void limbRT(ArmPtr& arm, const double deltaT);
        void limbPublish(ArmPtr& arm, const DebugObserverInterfacePrx& debugObs);
        void limbReInit(ArmPtr& arm);
 
    protected:
        std::map<std::string, ArmPtr> limb;
        VirtualRobot::RobotPtr nonRtRobot;
        RobotUnitPtr robotUnit;
        std::unique_ptr<::simox::control::environment::CollisionRobot<hpp::fcl::OBBRSS>>
            collisionRobotPtr;
        std::shared_ptr<::simox::control::simox::robot::Robot> simoxControlRobotPtr;
        std::shared_ptr<simox::control::simox::robot::Robot> simoxReducedRobotPtr;
        ConfigDict userConfig;
        /// store collision pairs in vector to be able to preallocate memory
        std::shared_ptr<std::vector<::simox::control::environment::DistanceResult>> collisionPairs;
        float preFilterDistance;
        int maxCollisionPairs;
        std::vector<std::string> actuatedJoints;
        Eigen::VectorXd qposActuatedJoints;
        //int qposActuatedJointsIndex;
 
    protected:
        /// NJointControllerBase interface
        void onInitNJointController() override;
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
    };
} // namespace armarx::control::njoint_controller::task_space