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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
#define EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
#include <vector>
#include <Eigen/Dense>
#include <dart/dart.hpp>
class StateMachine;
/// \brief SIMBICON for Atlas robot
class Controller
{
public:
/// \brief Constructor
Controller(
dart::dynamics::SkeletonPtr _atlasRobot,
dart::constraint::ConstraintSolver* _collisionSolver);
/// \brief Destructor
virtual ~Controller();
/// \brief Called before every simulation time step in MyWindow class.
/// Compute control force and apply it to Atlas robot
virtual void update(double _currentTime);
/// \brief
dart::dynamics::SkeletonPtr getAtlasRobot();
/// \brief Get current state machine
StateMachine* getCurrentState();
/// \brief Change state to _stateMachine
void changeStateMachine(StateMachine* _stateMachine, double _currentTime);
/// \brief Change state machine to a state machine whose names is _name
void changeStateMachine(const std::string& _name, double _currentTime);
/// \brief Change state machine to a state machine whose index is _idx
void changeStateMachine(std::size_t _idx, double _currentTime);
/// \brief Keyboard control
void keyboard(unsigned char _key, int _x, int _y, double _currentTime);
/// \brief Print debug information
void printDebugInfo() const;
/// \brief Harness the robot
void harnessPelvis();
/// \brief Unharness the robot
void unharnessPelvis();
/// \brief Harness the robot
void harnessLeftFoot();
/// \brief Harness the robot
void unharnessLeftFoot();
/// \brief Harness the robot
void harnessRightFoot();
/// \brief Harness the robot
void unharnessRightFoot();
/// \brief Reset the robot
void resetRobot();
protected:
/// \brief Atlas robot skeleton
dart::dynamics::SkeletonPtr mAtlasRobot;
/// \brief Conllision detector
dart::constraint::ConstraintSolver* mConstratinSolver;
/// \brief List of state machines
std::vector<StateMachine*> mStateMachines;
/// \brief Current state machine
StateMachine* mCurrentStateMachine;
/// \brief Flag for pelvis harnessing
bool mPelvisHarnessOn;
/// \brief Flag for left foot harnessing
bool mLeftFootHarnessOn;
/// \brief Flag for right foot harnessing
bool mRightFootHarnessOn;
/// \brief Index for coronal left hip
std::size_t mCoronalLeftHip;
/// \brief Index for coronal right hip
std::size_t mCoronalRightHip;
/// \brief Index for sagital left hip
std::size_t mSagitalLeftHip;
/// \brief Index for sagital right hip
std::size_t mSagitalRightHip;
private:
/// \brief Check if this controller contains _stateMachine
bool _containStateMachine(const StateMachine* _stateMachine) const;
/// \brief Check if this controller contains a state machine whose name is
/// _name
bool _containStateMachine(const std::string& _name) const;
/// \brief Find a state machine whose name is _name
StateMachine* _findStateMachine(const std::string& _name) const;
/// \brief Build state machines
void _buildStateMachines();
/// \brief Create standing controller
StateMachine* _createStandingStateMachine();
/// \brief Create standing controller
StateMachine* _createWalkingInPlaceStateMachine();
/// \brief Create standing controller
StateMachine* _createWalkingStateMachine();
/// \brief Create running controller
StateMachine* _createRunningStateMachine();
/// \brief Set joint damping
void _setJointDamping();
/// \brief Get left foot
dart::dynamics::BodyNode* _getLeftFoot() const;
/// \brief Get right foot
dart::dynamics::BodyNode* _getRightFoot() const;
/// \brief Weld joint constraint for pelvis harnessing
dart::constraint::WeldJointConstraintPtr mWeldJointConstraintPelvis;
/// \brief Weld joint constraint for left foot harnessing
dart::constraint::WeldJointConstraintPtr mWeldJointConstraintLeftFoot;
/// \brief Weld joint constraint for right foot harnessing
dart::constraint::WeldJointConstraintPtr mWeldJointConstraintRightFoot;
/// \brief Initial state of the robot
dart::dynamics::Skeleton::Configuration mInitialState;
};
#endif // EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
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