sot-talos-balance  1.6.0
coupled-admittance-controller.cpp
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
18 
19 #include <sot/core/debug.hh>
20 #include <dynamic-graph/factory.h>
21 #include <dynamic-graph/command-bind.h>
22 
23 #include <dynamic-graph/all-commands.h>
24 #include <sot/core/stop-watch.hh>
25 
26 namespace dynamicgraph
27 {
28  namespace sot
29  {
30  namespace talos_balance
31  {
32  namespace dg = ::dynamicgraph;
33  using namespace dg;
34  using namespace dg::command;
35 
36 //Size to be aligned "-------------------------------------------------------"
37 
38 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION "CoupledAdmittanceController: tauSum computation "
39 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION "CoupledAdmittanceController: tauDiff computation "
40 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION "CoupledAdmittanceController: tauDesSum computation "
41 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION "CoupledAdmittanceController: tauDesDiff computation "
42 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION "CoupledAdmittanceController: dqRefSum computation "
43 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION "CoupledAdmittanceController: dqReDiff computation "
44 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION "CoupledAdmittanceController: dqRefL computation "
45 #define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION "CoupledAdmittanceController: dqRefR computation "
46 
47 #define INPUT_SIGNALS m_kSumSIN << m_kDiffSIN << m_tauLSIN << m_tauRSIN << m_tauDesLSIN << m_tauDesRSIN
48 
49 #define INNER_SIGNALS m_tauSumSINNER << m_tauDiffSINNER << m_tauDesSumSINNER << m_tauDesDiffSINNER << m_dqRefSumSINNER << m_dqRefDiffSINNER
50 
51 #define OUTPUT_SIGNALS m_dqRefLSOUT << m_dqRefRSOUT
52 
55  typedef CoupledAdmittanceController EntityClassName;
56 
57  /* --- DG FACTORY ---------------------------------------------------- */
58  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CoupledAdmittanceController,
59  "CoupledAdmittanceController");
60 
61  /* ------------------------------------------------------------------- */
62  /* --- CONSTRUCTION -------------------------------------------------- */
63  /* ------------------------------------------------------------------- */
65  : Entity(name)
66  , CONSTRUCT_SIGNAL_IN(kSum, dynamicgraph::Vector)
67  , CONSTRUCT_SIGNAL_IN(kDiff, dynamicgraph::Vector)
68  , CONSTRUCT_SIGNAL_IN(tauL, dynamicgraph::Vector)
69  , CONSTRUCT_SIGNAL_IN(tauR, dynamicgraph::Vector)
70  , CONSTRUCT_SIGNAL_IN(tauDesL, dynamicgraph::Vector)
71  , CONSTRUCT_SIGNAL_IN(tauDesR, dynamicgraph::Vector)
72  , CONSTRUCT_SIGNAL_INNER(tauSum, dynamicgraph::Vector, INPUT_SIGNALS)
73  , CONSTRUCT_SIGNAL_INNER(tauDiff, dynamicgraph::Vector, INPUT_SIGNALS)
74  , CONSTRUCT_SIGNAL_INNER(tauDesSum, dynamicgraph::Vector, INPUT_SIGNALS)
75  , CONSTRUCT_SIGNAL_INNER(tauDesDiff, dynamicgraph::Vector, INPUT_SIGNALS)
76  , CONSTRUCT_SIGNAL_INNER(dqRefSum, dynamicgraph::Vector, INPUT_SIGNALS << m_tauSumSINNER << m_tauDesSumSINNER)
77  , CONSTRUCT_SIGNAL_INNER(dqRefDiff, dynamicgraph::Vector, INPUT_SIGNALS << m_tauDiffSINNER << m_tauDesDiffSINNER)
78  , CONSTRUCT_SIGNAL_OUT(dqRefL, dynamicgraph::Vector, INNER_SIGNALS)
79  , CONSTRUCT_SIGNAL_OUT(dqRefR, dynamicgraph::Vector, INNER_SIGNALS)
80  {
81  Entity::signalRegistration( INPUT_SIGNALS << INNER_SIGNALS << OUTPUT_SIGNALS );
82  }
83 
84  /* ------------------------------------------------------------------- */
85  /* --- SIGNALS ------------------------------------------------------- */
86  /* ------------------------------------------------------------------- */
88  {
90 
91  const Vector & tauL = m_tauLSIN(iter);
92  const Vector & tauR = m_tauRSIN(iter);
93 
94  s = tauL + tauR;
95 
97 
98  return s;
99  }
100 
102  {
104 
105  const Vector & tauL = m_tauLSIN(iter);
106  const Vector & tauR = m_tauRSIN(iter);
107 
108  s = tauL - tauR;
109 
111 
112  return s;
113  }
114 
116  {
118 
119  const Vector & tauDesL = m_tauDesLSIN(iter);
120  const Vector & tauDesR = m_tauDesRSIN(iter);
121 
122  s = tauDesL + tauDesR;
123 
125 
126  return s;
127  }
128 
130  {
132 
133  const Vector & tauDesL = m_tauDesLSIN(iter);
134  const Vector & tauDesR = m_tauDesRSIN(iter);
135 
136  s = tauDesL - tauDesR;
137 
139 
140  return s;
141  }
142 
144  {
146 
147  const Vector & tau = m_tauSumSINNER(iter);
148  const Vector & tauDes = m_tauDesSumSINNER(iter);
149  const Vector & k = m_kSumSIN(iter);
150 
151  s = k.cwiseProduct(tauDes - tau);
152 
154 
155  return s;
156  }
157 
159  {
161 
162  const Vector & tau = m_tauDiffSINNER(iter);
163  const Vector & tauDes = m_tauDesDiffSINNER(iter);
164  const Vector & k = m_kDiffSIN(iter);
165 
166  s = k.cwiseProduct(tauDes - tau);
167 
169 
170  return s;
171  }
172 
174  {
176 
177  const Vector & dqRefSum = m_dqRefSumSINNER(iter);
178  const Vector & dqRefDiff = m_dqRefDiffSINNER(iter);
179 
180  s = dqRefSum + dqRefDiff;
181 
183 
184  return s;
185  }
186 
188  {
190 
191  const Vector & dqRefSum = m_dqRefSumSINNER(iter);
192  const Vector & dqRefDiff = m_dqRefDiffSINNER(iter);
193 
194  s = dqRefSum - dqRefDiff;
195 
197 
198  return s;
199  }
200 
201  /* --- COMMANDS ---------------------------------------------------------- */
202 
203  /* ------------------------------------------------------------------- */
204  /* --- ENTITY -------------------------------------------------------- */
205  /* ------------------------------------------------------------------- */
206 
207  void CoupledAdmittanceController::display(std::ostream& os) const
208  {
209  os << "CoupledAdmittanceController " << getName();
210  try
211  {
212  getProfiler().report_all(3, os);
213  }
214  catch (ExceptionSignal e) {}
215  }
216  } // namespace talos_balance
217  } // namespace sot
218 } // namespace dynamicgraph
219 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AdmittanceControllerEndEffector, "AdmittanceControllerEndEffector")
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION
DEFINE_SIGNAL_INNER_FUNCTION(w_force, dynamicgraph::Vector)
#define INPUT_SIGNALS
#define INNER_SIGNALS
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION
#define OUTPUT_SIGNALS
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CoupledAdmittanceController(const std::string &name)
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION