control_select.cpp

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/*
Copyright (C) 2002-2004  Etienne Lachance

This library is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation; either version 2.1 of the
License, or (at your option) any later version.

This library 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


Report problems and direct all questions to:

email: etienne.lachance@polymtl.ca or richard.gourdeau@polymtl.ca

-------------------------------------------------------------------------------
Revision_history:

2004/07/13: Ethan Tira-Thompson
    -Added support for newmat's use_namespace #define, using ROBOOP namespace
    -Using config::select_real instead of select_double

2004/08/14: Ethan Tira-Thompson
    -Replace select_real and select_double by select.

2004/09/18: Etienne Lachance
    -Controller type NONE

2005/11/06: Etienne Lachance
    - No need to provide a copy constructor and the assignment operator 
      (operator=) for Control_Select class. Instead we use the one provide by the
      compiler.
-------------------------------------------------------------------------------
*/


static const char rcsid[] = "$Id: control_select.cpp,v 1.7 2006/05/16 19:24:26 gourdeau Exp $";

#include "config.h"
#include "control_select.h"
#include "trajectory.h"

#ifdef use_namespace
namespace ROBOOP {
  using namespace NEWMAT;
#endif

Control_Select::Control_Select()
{
  type = NONE;
  space_type = NONE;
  dof = 0;
}

Control_Select::Control_Select(const string & filename)
{
    set_control(filename);
}

int Control_Select::get_dof()
{ 
    return dof; 
}

void Control_Select::set_control(const string & filename)
{
   Config conf(true);
   ifstream inconffile(filename.c_str(), std::ios::in);
   if (conf.read_conf(inconffile))
   {
       cerr << "Control_Select::set_control: unable to read input config file." << endl;
   }

    conf.select(CONTROLLER, "type", ControllerName);

    if (ControllerName == PROPORTIONAL_DERIVATIVE)
    {
        type = PD;
        space_type = JOINT_SPACE;
    }
    else if(ControllerName == COMPUTED_TORQUE_METHOD)
    {
        type = CTM;
        space_type = JOINT_SPACE;
    }
    else if(ControllerName == RESOLVED_RATE_ACCELERATION)
    {
        type = RRA;
        space_type = CARTESIAN_SPACE;
    }
    else if(ControllerName == IMPEDANCE)
    {
        type = IMP;
        space_type = CARTESIAN_SPACE;
    }
    else 
    {
        ControllerName = "";
        type = NONE;
        space_type = 0;
    }
    
    conf.select(CONTROLLER, "dof", dof);

    switch (type) {
        case PD:
        {           
            pd = Proportional_Derivative(dof);
            DiagonalMatrix Kp(dof), Kd(dof);
            for(int i = 1; i <= dof; i++)
            {
                ostringstream Kp_ostr, Kd_ostr;
                Kp_ostr << "Kp_" << i;
                Kd_ostr << "Kd_" << i;
                conf.select("GAINS", Kp_ostr.str(), Kp(i));     
                conf.select("GAINS", Kd_ostr.str(), Kd(i));
            }
            pd.set_Kp(Kp);
            pd.set_Kd(Kd);          
        }
        break;
        
        case CTM:
        {           
            ctm = Computed_torque_method(dof);
            DiagonalMatrix Kp(dof), Kd(dof);
            for(int i = 1; i <= dof; i++)
            {
                ostringstream Kp_ostr, Kd_ostr;
                Kp_ostr << "Kp_" << i;
                Kd_ostr << "Kd_" << i;
                conf.select("GAINS", Kp_ostr.str(), Kp(i));
                conf.select("GAINS", Kd_ostr.str(), Kd(i));
            }
            ctm.set_Kp(Kp);
            ctm.set_Kd(Kd);
        }
        break;
            
        case RRA:
        {
            rra = Resolved_acc(dof);
            Real Kvp, Kpp, Kvo, Kpo;
            conf.select("GAINS", "Kvp", Kvp);
            conf.select("GAINS", "Kpp", Kpp);
            conf.select("GAINS", "Kvo", Kvo);
            conf.select("GAINS", "Kpo", Kpo);

            rra.set_Kvp( Kvp );
            rra.set_Kpp( Kpp );
            rra.set_Kvo( Kvo );
            rra.set_Kpo( Kpo );
        }
        break;

        case IMP:
        {
        }
        break;
        
        default:
            break;
    }
}

#ifdef use_namespace
}
#endif