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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_JOINTCONSTRAINTS_CONTROLLER_HPP_
#define EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
#include <vector>
#include <Eigen/Dense>
#include <dart/dart.hpp>
class Controller
{
public:
Controller(
const dart::dynamics::SkeletonPtr& _skel,
dart::constraint::ConstraintSolver* _collisionSolver,
double _t);
virtual ~Controller() {}
Eigen::VectorXd getTorques()
{
return mTorques;
}
double getTorque(int _index)
{
return mTorques[_index];
}
void setDesiredDof(int _index, double _val)
{
mDesiredDofs[_index] = _val;
}
void computeTorques(
const Eigen::VectorXd& _dof, const Eigen::VectorXd& _dofVel);
dart::dynamics::SkeletonPtr getSkel()
{
return mSkel;
}
Eigen::VectorXd getDesiredDofs()
{
return mDesiredDofs;
}
Eigen::MatrixXd getKp()
{
return mKp;
}
Eigen::MatrixXd getKd()
{
return mKd;
}
void setConstrForces(const Eigen::VectorXd& _constrForce)
{
mConstrForces = _constrForce;
}
protected:
bool computeCoP(dart::dynamics::BodyNode* _node, Eigen::Vector3d* _cop);
Eigen::Vector3d evalLinMomentum(const Eigen::VectorXd& _dofVel);
Eigen::Vector3d evalAngMomentum(const Eigen::VectorXd& _dofVel);
Eigen::VectorXd adjustAngMomentum(
Eigen::VectorXd _deltaMomentum, Eigen::VectorXd _controlledAxis);
dart::dynamics::SkeletonPtr mSkel;
dart::constraint::ConstraintSolver* mCollisionHandle;
Eigen::VectorXd mTorques;
Eigen::VectorXd mDesiredDofs;
Eigen::MatrixXd mKp;
Eigen::MatrixXd mKd;
int mFrame;
double mTimestep;
double mPreOffset;
Eigen::VectorXd
mConstrForces; // SPD utilizes the current info about contact forces
};
#endif // EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
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