admittance-control-op-point.hh

Go to the documentation of this file.

/*
 * Copyright 2019
 *
 * LAAS-CNRS
 *
 * Noëlie Ramuzat
 * This file is part of sot-core.
 * See license file.
 */

#ifndef __sot_core_admittance_control_op_point_H__
#define __sot_core_admittance_control_op_point_H__

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(admittance_control_op_point_EXPORTS)
#define ADMITTANCECONTROLOPPOINT_EXPORT __declspec(dllexport)
#else
#define ADMITTANCECONTROLOPPOINT_EXPORT __declspec(dllimport)
#endif
#else
#define ADMITTANCECONTROLOPPOINT_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#include <dynamic-graph/signal-helper.h>

#include <sot/core/matrix-geometry.hh>

#include "pinocchio/spatial/force.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/se3.hpp"

namespace dynamicgraph {
namespace sot {
namespace core {

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

class ADMITTANCECONTROLOPPOINT_EXPORT AdmittanceControlOpPoint
    : public ::dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  /* --- CONSTRUCTOR ---- */
  AdmittanceControlOpPoint(const std::string &name);
  void init(const double &dt);

  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(dqSaturation, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(force, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(w_forceDes, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(opPose, dynamicgraph::sot::MatrixHomogeneous);
  DECLARE_SIGNAL_IN(sensorPose, dynamicgraph::sot::MatrixHomogeneous);

  DECLARE_SIGNAL_INNER(w_force, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(w_dq, dynamicgraph::Vector);

  DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);

  /* --- COMMANDS --- */
  void resetDq();

  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;

 protected:
  int m_n;
  bool m_initSucceeded;
  dynamicgraph::Vector m_w_dq;
  double m_dt;
  // Weight of the end-effector
  double m_mass;

};  // class AdmittanceControlOpPoint

}  // namespace core
}  // namespace sot
}  // namespace dynamicgraph

#endif  // #ifndef __sot_core_admittance_control_op_point_H__