17 #ifndef __sot_torque_control_simple_inverse_dyn_H__
18 #define __sot_torque_control_simple_inverse_dyn_H__
25 #if defined(simple_inverse_dyn_EXPORTS)
26 #define SOTSIMPLEINVERSEDYN_EXPORT __declspec(dllexport)
28 #define SOTSIMPLEINVERSEDYN_EXPORT __declspec(dllimport)
31 #define SOTSIMPLEINVERSEDYN_EXPORT
39 #include "boost/assign.hpp"
42 #include <pinocchio/multibody/model.hpp>
43 #include <pinocchio/parsers/urdf.hpp>
44 #include "pinocchio/algorithm/joint-configuration.hpp"
46 #include <tsid/robots/robot-wrapper.hpp>
47 #include <tsid/solvers/solver-HQP-base.hpp>
48 #include <tsid/contacts/contact-6d.hpp>
49 #include <tsid/formulations/inverse-dynamics-formulation-acc-force.hpp>
50 #include <tsid/tasks/task-com-equality.hpp>
51 #include <tsid/tasks/task-joint-posture.hpp>
52 #include <tsid/trajectories/trajectory-euclidian.hpp>
55 #include <dynamic-graph/signal-helper.h>
56 #include <sot/core/matrix-geometry.hh>
57 #include <sot/core/robot-utils.hh>
75 DYNAMIC_GRAPH_ENTITY_DECL();
78 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
85 DECLARE_SIGNAL_IN(posture_ref_pos, dynamicgraph::Vector);
86 DECLARE_SIGNAL_IN(posture_ref_vel, dynamicgraph::Vector);
87 DECLARE_SIGNAL_IN(posture_ref_acc, dynamicgraph::Vector);
88 DECLARE_SIGNAL_IN(kp_posture, dynamicgraph::Vector);
89 DECLARE_SIGNAL_IN(kd_posture, dynamicgraph::Vector);
90 DECLARE_SIGNAL_IN(w_posture,
double);
92 DECLARE_SIGNAL_IN(kp_pos, dynamicgraph::Vector);
93 DECLARE_SIGNAL_IN(kd_pos, dynamicgraph::Vector);
95 DECLARE_SIGNAL_IN(com_ref_pos, dynamicgraph::Vector);
96 DECLARE_SIGNAL_IN(com_ref_vel, dynamicgraph::Vector);
97 DECLARE_SIGNAL_IN(com_ref_acc, dynamicgraph::Vector);
98 DECLARE_SIGNAL_IN(kp_com, dynamicgraph::Vector);
99 DECLARE_SIGNAL_IN(kd_com, dynamicgraph::Vector);
100 DECLARE_SIGNAL_IN(w_com,
double);
102 DECLARE_SIGNAL_IN(kp_contact, dynamicgraph::Vector);
103 DECLARE_SIGNAL_IN(kd_contact, dynamicgraph::Vector);
104 DECLARE_SIGNAL_IN(w_forces,
double);
105 DECLARE_SIGNAL_IN(mu,
double);
106 DECLARE_SIGNAL_IN(contact_points, dynamicgraph::Matrix);
107 DECLARE_SIGNAL_IN(contact_normal, dynamicgraph::Vector);
108 DECLARE_SIGNAL_IN(f_min,
double);
109 DECLARE_SIGNAL_IN(f_max,
double);
111 DECLARE_SIGNAL_IN(waist_ref_pos, dynamicgraph::Vector);
112 DECLARE_SIGNAL_IN(waist_ref_vel, dynamicgraph::Vector);
113 DECLARE_SIGNAL_IN(waist_ref_acc, dynamicgraph::Vector);
114 DECLARE_SIGNAL_IN(kp_waist, dynamicgraph::Vector);
115 DECLARE_SIGNAL_IN(kd_waist, dynamicgraph::Vector);
116 DECLARE_SIGNAL_IN(w_waist,
double);
118 DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
119 DECLARE_SIGNAL_IN(v, dynamicgraph::Vector);
120 DECLARE_SIGNAL_IN(active_joints, dynamicgraph::Vector);
121 DECLARE_SIGNAL_INNER(active_joints_checked, dynamicgraph::Vector);
123 DECLARE_SIGNAL_OUT(tau_des, dynamicgraph::Vector);
124 DECLARE_SIGNAL_OUT(dv_des, dynamicgraph::Vector);
125 DECLARE_SIGNAL_OUT(v_des, dynamicgraph::Vector);
126 DECLARE_SIGNAL_OUT(q_des, dynamicgraph::Vector);
127 DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);
131 void init(
const double& dt,
const std::string& robotRef);
132 virtual void setControlOutputType(
const std::string& type);
133 void updateComOffset();
136 virtual void display(std::ostream& os)
const;
138 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
139 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
155 tsid::InverseDynamicsFormulationAccForce*
m_invDyn;
195 #endif // #ifndef __sot_torque_control_simple_inverse_dyn_H__