TrajectoryController.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     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cmath>
#include <limits>
#include <memory>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include <armarx/navigation/core/DynamicScene.h>
#include <armarx/navigation/core/StaticScene.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/trajectory_control/global/core.h>
 
namespace armarx::navigation::traj_ctrl
{
    namespace global
    {
 
        struct TrajectoryControllerResult
        {
            core::Twist twist;
            core::GlobalTrajectoryPoint dropPoint;
            bool isFinalSegment;
            float currentOrientation;
            float desiredOrientation;
            float orientationError;
            float positionError;
        };
 
        struct TrajectoryControllerParams
        {
            core::TwistLimits limits{
                .linear = 500.F, // [mm/s]
                .angular = 2.F * M_PIf32 / 10.F // [rad/s]
            };
 
            virtual ~TrajectoryControllerParams() = default;
 
            virtual Algorithms algorithm() const = 0;
            virtual aron::data::DictPtr toAron() const = 0;
        };
 
        class TrajectoryController
        {
        public:
            TrajectoryController() = default;
            virtual ~TrajectoryController() = default;
 
            virtual TrajectoryControllerResult control(const core::GlobalTrajectory& goal,
                                                       const core::Pose& global_T_robot) = 0;
        };
 
        using TrajectoryControllerPtr = std::shared_ptr<TrajectoryController>;
 
    } // namespace global
 
 
} // namespace armarx::navigation::traj_ctrl