WocraController.h

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#ifndef __WOCRACTRL_H__

#define __WOCRACTRL_H__


#include <string>
#include <vector>
#include <iostream>
#include <memory>

// OCRA INCLUDES
#include "ocra/control/Controller.h"
#include "ocra/control/Model.h"
#include "ocra/optim/OneLevelSolver.h"

// WOCRA INCLUDES
#include "ocra/control/Task.h"
#include "ocra/control/ControlConstraint.h"
#include "ocra/control/JointLimitConstraint.h"
#include "ocra/control/TorqueLimitConstraint.h"


using namespace ocra;




namespace wocra

{
    
    
    
    class WocraController: public Controller
    
    {
        
    public:
        
        
        WocraController(const std::string& ctrlName, std::shared_ptr<Model> innerModel, std::shared_ptr<OneLevelSolver> innerSolver, bool useReducedProblem);
        
        virtual ~WocraController();
        
        
        std::shared_ptr<Model>                  getModel();
        
        std::shared_ptr<OneLevelSolver>   getSolver();
        
        bool                    isUsingReducedProblem();
        
        void setVariableMinimizationWeights(double w_ddq, double w_tau, double w_fc);
        
        void takeIntoAccountGravity(bool useGrav);
        
        void writePerformanceInStream(std::ostream& myOstream, bool addCommaAtEnd) const;
        
        std::string getPerformances() const;
        
        void addConstraint(ocra::LinearConstraint& constraint) const;
        
        void removeConstraint(ocra::LinearConstraint& constraint) const;
        
        void addConstraint(ocra::ControlConstraint& constraint) const;
        
        void removeConstraint(ocra::ControlConstraint& constraint) const;
        
        // WocraTask& createWocraTask(const std::string& name, Feature::Ptr feature, Feature::Ptr featureDes) const;
        // WocraTask& createWocraTask(const std::string& name, Feature::Ptr feature) const;
        // WocraTask& createWocraContactTask(const std::string& name, PointContactFeature::Ptr feature, double mu, double margin) const;
        
        
    protected:
        
        virtual void doComputeOutput(Eigen::VectorXd& tau);
        
        virtual void doAddTask(std::shared_ptr<Task> task);
        
        virtual void doAddContactSet(const ContactSet& contacts);
        
        
        
    protected: // factory
        virtual std::shared_ptr<Task> doCreateTask(const std::string& name, Feature::Ptr feature, Feature::Ptr featureDes) const;
        
        virtual std::shared_ptr<Task> doCreateTask(const std::string& name, Feature::Ptr feature) const;
        
        virtual std::shared_ptr<Task> doCreateContactTask(const std::string& name, PointContactFeature::Ptr feature, double mu, double margin) const;
        
        
    private:
        
        struct Pimpl;
        
        boost::shared_ptr<Pimpl> pimpl;
        
        std::shared_ptr<ocra::JointLimitConstraint> jointLimitConstraint;
        std::shared_ptr<ocra::TorqueLimitConstraint> torqueLimitConstraint;
        
    };
    
    
     // end group core
    
    
    
} //end namespace wocra







#endif