PlatformFollowerController.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 )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h>
 
#include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
#include <armarx/control/njoint_controller/platform/platform_follower_controller/aron/PlatformFollowerControllerConfig.aron.generated.h>
 
namespace armarx
{
    class ControlTargetHolonomicPlatformVelocity;
    class SensorValueHolonomicPlatformWithAbsolutePosition;
} // namespace armarx
 
namespace armarx::control::njoint_controller::platform::platform_follower_controller
{
    struct RobotState
    {
        Eigen::Vector3f handPositionRight;
        Eigen::Vector3f handPositionLeft;
        Eigen::Vector3f currentVel = Eigen::Vector3f::Zero();
        armarx::core::time::DateTime time = armarx::core::time::DateTime::Now();
 
        Eigen::Vector3f
        direction() const
        {
            return (handPositionRight - handPositionLeft).normalized();
        }
    };
 
    struct Config
    {
        using Params = platform_follower_controller::arondto::Params;
 
        Params params;
    };
 
    struct Target
    {
        struct
        {
            double x = 0;
            double y = 0;
            double yaw = 0;
        } platformVelocityTargets;
 
        void
        reset()
        {
            platformVelocityTargets.x = 0;
            platformVelocityTargets.y = 0;
            platformVelocityTargets.yaw = 0;
        }
    };
 
    struct Devices
    {
        armarx::ControlTargetHolonomicPlatformVelocity* platformTarget;
    };
 
    using NameValueMap = std::map<std::string, float>;
 
    class Controller :
        virtual public armarx::NJointControllerWithTripleBuffer<Target>,
        virtual public armarx::control::ConfigurableNJointControllerInterface
    {
    public:
        using ConfigPtrT = armarx::control::ConfigurableNJointControllerConfigPtr;
 
        Controller(const armarx::RobotUnitPtr& robotUnit,
                   const armarx::NJointControllerConfigPtr& config,
                   const VirtualRobot::RobotPtr&);
 
        ~Controller() override;
 
        std::string getClassName(const Ice::Current& iceCurrent = Ice::emptyCurrent) const override;
 
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) 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
        {
            ARMARX_WARNING << "NYI";
            return nullptr;
        }
 
    protected:
        void additionalTask();
        void onPublish(const armarx::SensorAndControl& sac,
                       const armarx::DebugDrawerInterfacePrx& debugDrawer,
                       const armarx::DebugObserverInterfacePrx& debugObservers) override;
 
 
        void onInitNJointController() override;
        void rtPreActivateController() override;
 
    private:
        // updateConfig -> additionalTask
        armarx::TripleBuffer<Config> configBuffer;
 
        // rt -> additionalTask
        armarx::TripleBuffer<RobotState> stateBuffer;
 
        // internal
        std::atomic_bool rtFirstRun = true;
        std::atomic_bool rtReady = false;
 
        armarx::ControlTargetHolonomicPlatformVelocity* platformTarget;
 
        // FIXME add platform sensors here
        std::vector<const armarx::SensorValue1DoFActuatorVelocity*> velocitySensors;
 
        Devices getDevices(const VirtualRobot::RobotNodeSet& rns);
 
        RobotState initialState;
 
        VirtualRobot::RobotNodePtr tcpRight;
        VirtualRobot::RobotNodePtr tcpLeft;
 
        struct
        {
            Eigen::Vector2f filteredLinearVel = Eigen::Vector2f::Zero();
            float filteredAngularVel = 0;
            armarx::core::time::DateTime lastTime;
        } additionalTaskData;
 
        struct OnPublishData
        {
            Target target;
 
            Eigen::Vector3f position_error_left;
            Eigen::Vector3f position_error_right;
        };
 
        armarx::TripleBuffer<OnPublishData> onPublishBuffer;
    };
 
} // namespace armarx::control::njoint_controller::platform::platform_follower_controller