robot_dynamics_interface.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020, Christoph Rösmann, All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SYSTEMS_ROBOT_DYNAMICS_INTERFACE_H_
#define SYSTEMS_ROBOT_DYNAMICS_INTERFACE_H_

#include <corbo-core/types.h>
#include <corbo-systems/system_dynamics_interface.h>
#include <geometry_msgs/Twist.h>
#include <teb_local_planner/pose_se2.h>

#include <memory>

namespace mpc_local_planner {

class RobotDynamicsInterface : public corbo::SystemDynamicsInterface
{
 public:
    using Ptr = std::shared_ptr<RobotDynamicsInterface>;

    virtual void getPositionFromState(const Eigen::Ref<const Eigen::VectorXd>& x, double& pos_x, double& pos_y) const = 0;

    virtual void getPoseSE2FromState(const Eigen::Ref<const Eigen::VectorXd>& x, double& pos_x, double& pos_y, double& theta) const = 0;

    virtual void getPoseSE2FromState(const Eigen::Ref<const Eigen::VectorXd>& x, teb_local_planner::PoseSE2& pose) const
    {
        getPoseSE2FromState(x, pose.x(), pose.y(), pose.theta());
    }

    virtual void getSteadyStateFromPoseSE2(double pos_x, double pos_y, double theta, Eigen::Ref<Eigen::VectorXd> x) const = 0;

    virtual void getSteadyStateFromPoseSE2(const teb_local_planner::PoseSE2& pose, Eigen::Ref<Eigen::VectorXd> x) const
    {
        getSteadyStateFromPoseSE2(pose.x(), pose.y(), pose.theta(), x);
    }

    virtual bool getTwistFromControl(const Eigen::Ref<const Eigen::VectorXd>& u, geometry_msgs::Twist& twist) const = 0;

    virtual bool mergeStateFeedbackAndOdomFeedback(const teb_local_planner::PoseSE2& odom_pose, const geometry_msgs::Twist& odom_twist,
                                                   Eigen::Ref<Eigen::VectorXd> x) const = 0;

    virtual void reset() {}
};

}  // namespace mpc_local_planner

#endif  // SYSTEMS_ROBOT_DYNAMICS_INTERFACE_H_