WipingMixImpVelColController.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/>.
 *
 * @package    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <armarx/control/common/mp/JSMP.h>
#include <armarx/control/common/mp/MPPool.h>
#include <armarx/control/common/mp/TSMP.h>
#include <armarx/control/njoint_controller/task_space/CollisionAvoidanceMixedImpedanceVelocityController.h>
#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
#include <armarx/control/njoint_mp_controller/task_space/aron/WipingAdaptionConfig.aron.generated.h>
 
namespace armarx::control::njoint_mp_controller::task_space
{
    using namespace armarx::control::njoint_controller::task_space;
    using namespace armarx::control::common;
 
    /**
    * @defgroup Library-NJointWipingMixImpVelColMPController NJointWipingMixImpVelColMPController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointWipingMixImpVelColMPController.
    *
    * @class NJointWipingMixImpVelColMPController
    * @ingroup Library-NJointWipingMixImpVelColMPController
    * @brief Brief description of class NJointWipingMixImpVelColMPController.
    *
    * Detailed description of class NJointWipingMixImpVelColMPController.
    */
    class NJointWipingMixImpVelColMPController :
        virtual public NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController,
        virtual public mp::MPPool,
        virtual public NJointWipingMixImpVelColMPControllerInterface
    {
    public:
        struct AdaptionStatus
        {
            float changeTimer = 0.0f;
            Eigen::Vector2f lastPosition = Eigen::Vector2f::Zero();
            Eigen::Vector6f kpImpedance = Eigen::Vector6f::Zero();
            Eigen::Vector6f kpCartesianVel = Eigen::Vector6f::Zero();
            Eigen::Matrix4f desiredPose = Eigen::Matrix4f::Identity();
            Eigen::Vector2f lastDesiredUserPosition = Eigen::Vector2f::Identity();
            float openDistanceToDesiredUserPosition = 0.;
        };
 
    public:
        using MPListConfig = common::mp::arondto::MPListConfig;
 
        NJointWipingMixImpVelColMPController(const RobotUnitPtr& robotUnit,
                                             const NJointControllerConfigPtr& config,
                                             const VirtualRobot::RobotPtr&);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
 
        void updateMPConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                            const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        // ::armarx::aron::data::dto::DictPtr
        // getMPConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        void updateAdaptiveConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                                  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        void additionalTask() override;
 
        // protected:
        //     /// this variable is only needed when constructing the MP instances, therefore you don't
        //     /// need to use triple buffers
        //     MPListConfig mpConfig;
 
    protected:
        void rtPreActivateController() override;
 
    private:
        std::atomic_bool adaptionReady{false};
        arondto::WipingAdaptionConfigs adaptionCfg;
        TripleBuffer<arondto::WipingAdaptionConfigs> bufferAdaptationConfigUserToNonRt;
        std::map<std::string, AdaptionStatus> adaptionStatus;
    };
} // namespace armarx::control::njoint_mp_controller::task_space