stack_of_tasks_solver.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_STACK_OF_TASKS_SOLVER_H
#define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_STACK_OF_TASKS_SOLVER_H

#include <set>
#include <ros/ros.h>

#include "cob_twist_controller/cob_twist_controller_data_types.h"
#include "cob_twist_controller/constraint_solvers/solvers/constraint_solver_base.h"

#include "cob_twist_controller/constraints/constraint_base.h"
#include "cob_twist_controller/constraints/constraint.h"

#define START_CNT 40.0

class StackOfTasksSolver : public ConstraintSolver<>
{
    public:
        StackOfTasksSolver(const TwistControllerParams& params,
                           const LimiterParams& limiter_params,
                           TaskStackController_t& task_stack_controller) :
                ConstraintSolver(params, limiter_params, task_stack_controller)
        {
            this->last_time_ = ros::Time::now();
            this->global_constraint_state_ = NORMAL;
            this->in_cart_vel_damping_ = 1.0;
        }

        virtual ~StackOfTasksSolver()
        {}

        virtual Eigen::MatrixXd solve(const Vector6d_t& in_cart_velocities,
                                      const JointStates& joint_states);

        void processState(std::set<ConstraintBase_t>::iterator& it,
                          const Eigen::MatrixXd& projector,
                          const Eigen::MatrixXd& particular_solution,
                          double inv_sum_of_prios,
                          Eigen::VectorXd& sum_of_gradient);

    protected:
        ros::Time last_time_;
        EN_ConstraintStates global_constraint_state_;
        double in_cart_vel_damping_;
};

#endif  // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_STACK_OF_TASKS_SOLVER_H