task-contact-force-equality.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid 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
// 3 of the License, or (at your option) any later version.
// tsid 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 Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_task_contact_force_equality_hpp__
#define __invdyn_task_contact_force_equality_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/tasks/task-contact-force.hpp"
#include "tsid/trajectories/trajectory-base.hpp"
#include "tsid/math/constraint-equality.hpp"
#include "tsid/contacts/contact-base.hpp"

namespace tsid {
namespace tasks {

class TaskContactForceEquality : public TaskContactForce {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::Index Index;
 typedef trajectories::TrajectorySample TrajectorySample;
 typedef math::Vector Vector;
 typedef math::Vector6 Vector6;
 typedef math::Vector3 Vector3;
 typedef math::ConstraintEquality ConstraintEquality;
 typedef pinocchio::SE3 SE3;

 TaskContactForceEquality(const std::string& name, RobotWrapper& robot,
 const double dt, contacts::ContactBase& contact);

 int dim() const override;

 virtual const std::string& getAssociatedContactName() override;
 virtual const contacts::ContactBase& getAssociatedContact();
 void setAssociatedContact(contacts::ContactBase& contact);

 // Task expressed as a PID between the reference force and the external one
 const ConstraintBase& compute(double t, ConstRefVector q, ConstRefVector v,
 Data& data) override;

 const ConstraintBase& compute(
 double t, ConstRefVector q, ConstRefVector v, Data& data,
 const std::vector<std::shared_ptr<ContactLevel> >* contacts) override;

 const ConstraintBase& getConstraint() const override;

 void setReference(TrajectorySample& ref);
 const TrajectorySample& getReference() const;

 void setExternalForce(TrajectorySample& f_ext);
 const TrajectorySample& getExternalForce() const;

 const Vector& Kp() const;
 const Vector& Kd() const;
 const Vector& Ki() const;
 const double& getLeakRate() const;
 void Kp(ConstRefVector Kp);
 void Kd(ConstRefVector Kp);
 void Ki(ConstRefVector Ki);
 void setLeakRate(double leak);

 protected:
 // contact associated to the force task
 contacts::ContactBase* m_contact;
 std::string m_contact_name; // the associated contact name or an empty string
 ConstraintEquality m_constraint;
 TrajectorySample m_ref; // reference Force 6D to follow
 TrajectorySample m_fext; // external Force 6D in the same frame than the ref
 Vector m_forceIntegralError; // Integral error of the PID
 Vector m_Kp;
 Vector m_Kd;
 Vector m_Ki;
 double m_dt;
 double m_leak_rate;
};

} // namespace tasks
} // namespace tsid

#endif // ifndef __invdyn_task_contact_force_equality_hpp__