BiKAC.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       2023
 * @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/ImpedanceController.h>
#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::njoint_mp_controller::task_space
{
    using namespace armarx::control::njoint_controller::task_space;
    using namespace armarx::control::common;
 
    struct Constraint
    {
        int idx;
        std::string type;
        std::string mpName;
 
        std::string rnsKpt;
        std::string rnsFrame;
 
        Eigen::Matrix4f poseDiffKptLocal;
        Eigen::Matrix4f poseDiffFrameLocal;
 
        Eigen::Vector3f pcaMeanLocal;
        Eigen::Matrix3f pcaComponentsLocal;
 
        Eigen::Matrix4f currentFrameRoot;
        Eigen::Matrix4f currentKptPoseRoot;
        Eigen::Matrix4f currentKptPoseLocal;
        Eigen::Vector6f currentKptVelocityRoot;
        Eigen::Vector6f currentKptVelocityLocal;
 
        Eigen::Matrix4f targetKptPoseLocal;
        Eigen::Matrix4f targetKptPoseRoot;
        Eigen::Vector3f trackingForceLocal;
        Eigen::Vector3f trackingForceRoot;
 
        Eigen::Vector3f kptKp;
        Eigen::Vector3f kptKd;
 
        float priorityFactor;
        float keypointPositionFilter;
        float keypointVelocityFilter;
        float keypointForceFilter;
        int p2pIdx;
    };
 
    struct AdmittanceData
    {
        Eigen::Matrix4f desiredPose;
        Eigen::Vector6f desiredVel;
        Eigen::Vector6f desiredAcc;
        Eigen::Vector6f forceTorque;
        std::vector<int> constraintIdxList;
    };
 
    struct BiKACConfig
    {
        Eigen::Vector6f kpAdmittance;
        Eigen::Vector6f kdAdmittance;
        Eigen::Vector6f kmAdmittance;
        std::map<std::string, AdmittanceData> admittanceData;
        // std::map<std::string, std::vector<int>> rnsToConstraintIdxMap;
        // std::map<std::string, Eigen::Vector6f> rnsToForceTorqueMap;
        std::vector<Constraint> cList;
    };
 
    /**
    * @defgroup Library-NJointBiKAC NJointBiKAC
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointBiKAC.
    *
    * @class NJointBiKAC
    * @ingroup Library-NJointBiKAC
    * @brief Brief description of class NJointBiKAC.
    *
    * Detailed description of class NJointBiKAC.
    */
    class NJointBiKAC :
        virtual public NJointTaskspaceImpedanceController,
        virtual public mp::MPPool,
        virtual public NJointBiKACInterface
    {
    public:
        using MPListConfig = common::mp::arondto::MPListConfig;
 
        NJointBiKAC(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 updateBiKACConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                               const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getBiKACConfig(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;
        BiKACConfig biKacConfig;
 
    protected:
        // void reInitMPInputOutputData();
        void limbNonRT(ArmPtr& arm);
        void updateConstraintStatus(const bool rtSafe);
 
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx&) override;
 
        TripleBuffer<BiKACConfig> bufferBiKACConfig;
        BiKACConfig biKacConfigForDebug;
 
    private:
        //        std::atomic<bool> isMPReady{false};
        std::atomic<bool> isConstraintReady{false};
    };
} // namespace armarx::control::njoint_mp_controller::task_space