72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#ifndef CONTROLLEDOBJECT_HPP_
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#define CONTROLLEDOBJECT_HPP_
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#include "kdl/frames.hpp"
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#include "eigen_types.hpp"
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#include "Object.hpp"
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#include "ConstraintSet.hpp"
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#include <vector>
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namespace iTaSC {
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#define CONSTRAINT_ID_ALL ((unsigned int)-1)
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class ControlledObject : public Object {
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protected:
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e_scalar m_maxDeltaQ;
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unsigned int m_nq,m_nc,m_nee;
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e_matrix m_Wq,m_Cq;
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e_vector m_Wy,m_ydot,m_qdot;
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std::vector<e_matrix> m_JqArray;
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public:
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ControlledObject();
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virtual ~ControlledObject();
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class JointLockCallback {
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public:
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JointLockCallback() {}
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virtual ~JointLockCallback() {}
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// lock a joint, no need to update output
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virtual void lockJoint(unsigned int q_nr, unsigned int ndof) = 0;
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// lock a joint and update output in view of reiteration
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virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot) = 0;
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};
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virtual void initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee);
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// returns true when a joint has been locked via the callback and the solver must run again
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virtual bool updateJoint(const Timestamp& timestamp, JointLockCallback& callback) = 0;
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virtual void updateControlOutput(const Timestamp& timestamp)=0;
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virtual void setJointVelocity(const e_vector qdot_in){m_qdot = qdot_in;};
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virtual double getMaxTimestep(double& timestep);
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virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0;
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virtual const e_vector& getControlOutput() const{return m_ydot;}
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virtual const e_matrix& getJq(unsigned int ee) const;
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virtual const e_matrix& getCq() const{return m_Cq;};
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virtual e_matrix& getWq() {return m_Wq;};
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virtual void setWq(const e_matrix& Wq_in){m_Wq = Wq_in;};
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virtual const e_vector& getWy() const {return m_Wy;};
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virtual const unsigned int getNrOfCoordinates(){return m_nq;};
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virtual const unsigned int getNrOfConstraints(){return m_nc;};
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};
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}
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#endif /* CONTROLLEDOBJECT_HPP_ */
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