KVILImpedanceController.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       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <armarx/control/common/mp/KeypointsMP.h>
#include <armarx/control/common/mp/MPPool.h>
#include <armarx/control/njoint_controller/task_space/KeypointsImpedanceController.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 Constraint1
    {
        std::string type;
        Eigen::Vector3f pcaMean;
        Eigen::Matrix3f pcaComponents;
        Eigen::Matrix3f localFrameRotMat;
        Eigen::Vector3f localFrameOrigin;
        Eigen::VectorXf vmpStart;
 
        int priority = 0;
        Eigen::MatrixXf density_mu;
        Eigen::VectorXf density_weights;
        float density_std_dev = 0.0f;
        float spatial_scale = 0.0;
 
        float pm_scale = 1.0;
        Eigen::Vector3f pm_init_proj_point;
        float pm_init_proj_value = 0.0;
        Eigen::Vector3f pm_init_tangent_vec;
    };
 
    using ConstraintPtr = std::shared_ptr<Constraint1>;
    using ConstraintList = std::vector<Constraint1>;
 
    struct KVILImpedanceMPConfig : virtual public control_law::KeypointsImpedanceController::Config
    {
        //        mp::MP::MPListConfig mpConfig;
        std::vector<mp::MP::MPConfig> mpList;
        std::vector<Constraint1> constraintList;
    };
 
    /**
    * @defgroup Library-NJointKVILImpedanceMPController NJointKVILImpedanceMPController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointKVILImpedanceMPController.
    *
    * @class NJointKVILImpedanceMPController
    * @ingroup Library-NJointKVILImpedanceMPController
    * @brief Brief description of class NJointKVILImpedanceMPController.
    *
    * Detailed description of class NJointKVILImpedanceMPController.
    */
    class NJointKVILImpedanceMPController :
        virtual public NJointKeypointsImpedanceController,
        virtual public mp::MPPool,
        virtual public NJointKVILImpedanceMPControllerInterface
    {
    public:
        using AronDTO = arondto::KVILImpedanceMPConfig;
        using BO = KVILImpedanceMPConfig;
 
        NJointKVILImpedanceMPController(const RobotUnitPtr& robotUnit,
                                        const NJointControllerConfigPtr& config,
                                        const VirtualRobot::RobotPtr&);
 
        std::string getClassName(const Ice::Current&) const override;
        void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        ::armarx::aron::data::dto::DictPtr
        getConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void rtPreActivateController() override;
        void additionalTask() override;
 
        void configureConstraints(const ConstraintList& c);
 
        void setCurveProjection(const Eigen::Vector3f& curve_proj_point_,
                                float proj_value_,
                                const Eigen::Vector3f& curve_vec_,
                                const Ice::Current&) override;
        Eigen::Vector3f getCurveKeypointPosition(const Ice::Current&) override;
 
    private:
        std::map<std::string, ConstraintPtr> constraints;
        int n_constraints = 0;
 
        struct NonlinearManifoldInfoStruct
        {
            Eigen::Vector3f pm_proj_point;
            float pm_proj_point_to_mean_distance = 100.0f;
            Eigen::Vector3f pm_tangent_vec;
        };
 
        struct p2CStruct
        {
            Eigen::Vector3f curve_kpt_position;
        };
 
        TripleBuffer<NonlinearManifoldInfoStruct> nl_mani_buffer;
        TripleBuffer<p2CStruct> kpt_status_buffer;
 
    protected:
        TripleBuffer<BO> bufferUserToAdditionalTask;
        TripleBuffer<BO> bufferAdditionalTaskToUser;
        TripleBuffer<BO> bufferUserToRt;
 
    private:
        //        std::atomic<bool> isMPReady{false};
    };
} // namespace armarx::control::njoint_mp_controller::task_space