6 #ifndef __sot_torque_control_joint_trajectory_generator_H__
7 #define __sot_torque_control_joint_trajectory_generator_H__
14 #if defined(joint_position_controller_EXPORTS)
15 #define SOTJOINTTRAJECTORYGENERATOR_EXPORT __declspec(dllexport)
17 #define SOTJOINTTRAJECTORYGENERATOR_EXPORT __declspec(dllimport)
20 #define SOTJOINTTRAJECTORYGENERATOR_EXPORT
28 #include <pinocchio/fwd.hpp>
30 #include <boost/assign.hpp>
33 #include <dynamic-graph/signal-helper.h>
34 #include <sot/core/matrix-geometry.hh>
35 #include <sot/core/robot-utils.hh>
50 DYNAMIC_GRAPH_ENTITY_DECL();
56 void init(
const double& dt,
const std::string& robotRef);
59 DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
60 DECLARE_SIGNAL_OUT(q, dynamicgraph::Vector);
61 DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
62 DECLARE_SIGNAL_OUT(ddq, dynamicgraph::Vector);
63 DECLARE_SIGNAL(fRightFoot, OUT, dynamicgraph::Vector);
64 DECLARE_SIGNAL(fLeftFoot, OUT, dynamicgraph::Vector);
65 DECLARE_SIGNAL(fRightHand, OUT, dynamicgraph::Vector);
66 DECLARE_SIGNAL(fLeftHand, OUT, dynamicgraph::Vector);
69 DECLARE_SIGNAL_OUT_FUNCTION(fRightFoot, dynamicgraph::Vector);
70 DECLARE_SIGNAL_OUT_FUNCTION(fLeftFoot, dynamicgraph::Vector);
71 DECLARE_SIGNAL_OUT_FUNCTION(fRightHand, dynamicgraph::Vector);
72 DECLARE_SIGNAL_OUT_FUNCTION(fLeftHand, dynamicgraph::Vector);
77 void playTrajectoryFile(
const std::string& fileName);
80 void getJoint(
const std::string& jointName);
83 bool isTrajectoryEnded();
90 void moveJoint(
const std::string& jointName,
const double& qFinal,
const double& time);
91 void moveForce(
const std::string& forceName,
const int& axis,
const double& fFinal,
const double& time);
98 void startSinusoid(
const std::string& jointName,
const double& qFinal,
const double& time);
105 void startTriangle(
const std::string& jointName,
const double& qFinal,
const double& time,
const double& Tacc);
113 void startConstAcc(
const std::string& jointName,
const double& qFinal,
const double& time);
122 void startForceSinusoid(
const std::string& forceName,
const int& axis,
const double& fFinal,
const double& time);
132 void startLinearChirp(
const std::string& jointName,
const double& qFinal,
const double& f0,
const double& f1,
135 void startForceLinearChirp(
const std::string& forceName,
const int& axis,
const double& fFinal,
const double& f0,
136 const double& f1,
const double& time);
142 void stop(
const std::string& jointName);
148 void stopForce(
const std::string& forceName);
151 virtual void display(std::ostream& os)
const;
153 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
154 logger_.stream(t) << (
"[JointTrajectoryGenerator-" + name +
"] " + msg) <<
'\n';
185 bool generateReferenceForceSignal(
const std::string& forceName,
int fid, dynamicgraph::Vector& s,
int iter);
187 bool convertJointNameToJointId(
const std::string& name,
unsigned int&
id);
188 bool convertForceNameToForceId(
const std::string& name,
unsigned int&
id);
189 bool isJointInRange(
unsigned int id,
double q);
190 bool isForceInRange(
unsigned int id,
const Eigen::VectorXd& f);
191 bool isForceInRange(
unsigned int id,
int axis,
double f);
199 #endif // #ifndef __sot_torque_control_joint_position_controller_H__