ocra-recipes
Doxygen documentation for the ocra-recipes repository
Feature.h
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1 
14 #ifndef _OCRA_FEATURE_H_
15 #define _OCRA_FEATURE_H_
16 
17 #include "ocra/control/ControlEnum.h"
18 #include "ocra/optim/NamedInstance.h"
19 
20 #include "ocra/control/ControlFrame.h"
21 #include "ocra/control/Model.h"
22 #include "ocra/control/FullState.h"
23 #include "ocra/control/PartialState.h"
24 #include "ocra/control/TaskState.h"
25 #include <ocra/util/Macros.h>
26 
27 #include <Eigen/Lgsm>
28 #include <boost/shared_ptr.hpp>
29 #include <boost/noncopyable.hpp>
30 
31 namespace ocra
32 {
33  class ControlFrame;
34  class FullState;
35  class PartialState;
36 }
37 
38 namespace ocra
39 {
40  // --- ABSTRACT -----------------------------------------------
41 
43 
55  class Feature : public NamedInstance, boost::noncopyable
56  {
57  DEFINE_CLASS_POINTER_TYPEDEFS(Feature)
58  protected:
59  Feature(const std::string& name);
60 
61  public:
62  virtual ~Feature() = 0;
63 
64  virtual int getDimension() const = 0;
65 
66  virtual const Eigen::MatrixXd& getSpaceTransform() const = 0;
67 
68  virtual const Eigen::VectorXd& computeEffort(const Feature& featureDes) const = 0;
69  virtual const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const = 0;
70  virtual const Eigen::VectorXd& computeError(const Feature& featureDes) const = 0;
71  virtual const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const = 0;
72  virtual const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const = 0;
73  virtual const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const = 0;
74  virtual const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const = 0;
75 
76  virtual const Eigen::VectorXd& computeEffort() const = 0;
77  virtual const Eigen::VectorXd& computeAcceleration() const = 0;
78  virtual const Eigen::VectorXd& computeError() const = 0;
79  virtual const Eigen::VectorXd& computeErrorDot() const = 0;
80  virtual const Eigen::MatrixXd& computeJacobian() const = 0;
81  virtual const Eigen::MatrixXd& computeProjectedMass() const = 0;
82  virtual const Eigen::MatrixXd& computeProjectedMassInverse() const = 0;
83 
84  virtual TaskState getState() const = 0;
85  virtual void setState(const TaskState& newState) = 0;
86  };
87 
88 
89  // --- POSITION -----------------------------------------------
90 
92 
101  class PositionFeature : public Feature
102  {
103  DEFINE_CLASS_POINTER_TYPEDEFS(PositionFeature)
104 
105  public:
106  PositionFeature(const std::string& name, ControlFrame::Ptr frame, ECartesianDof axes);
107 
108  int getDimension() const;
109 
110  const Eigen::MatrixXd& getSpaceTransform() const;
111 
112  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
113  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
114  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
115  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
116  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
117  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
118  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
119 
120  const Eigen::VectorXd& computeEffort() const;
121  const Eigen::VectorXd& computeAcceleration() const;
122  const Eigen::VectorXd& computeError() const;
123  const Eigen::VectorXd& computeErrorDot() const;
124  const Eigen::MatrixXd& computeJacobian() const;
125  const Eigen::MatrixXd& computeProjectedMass() const;
126  const Eigen::MatrixXd& computeProjectedMassInverse() const;
127 
128  TaskState getState() const;
129  void setState(const TaskState& newState);
130 
131  private:
132  struct Pimpl;
133  boost::shared_ptr<Pimpl> pimpl;
134  };
135 
136 
137  // --- POINT CONTACT ------------------------------------------
138 
140 
147  class PointContactFeature : public Feature
148  {
149  DEFINE_CLASS_POINTER_TYPEDEFS(PointContactFeature)
150 
151  public:
152  PointContactFeature(const std::string& name, ControlFrame::Ptr frame);
153 
154  int getDimension() const;
155 
156  const Eigen::MatrixXd& getSpaceTransform() const;
157 
158  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
159  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
160  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
161  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
162  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
163  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
164  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
165 
166  const Eigen::VectorXd& computeEffort() const;
167  const Eigen::VectorXd& computeAcceleration() const;
168  const Eigen::VectorXd& computeError() const;
169  const Eigen::VectorXd& computeErrorDot() const;
170  const Eigen::MatrixXd& computeJacobian() const;
171  const Eigen::MatrixXd& computeProjectedMass() const;
172  const Eigen::MatrixXd& computeProjectedMassInverse() const;
173 
174  TaskState getState() const;
175  void setState(const TaskState& newState);
176 
177  private:
178  struct Pimpl;
179  boost::shared_ptr<Pimpl> pimpl;
180  };
181 
182 
183  // --- ORIENTATION --------------------------------------------
184 
186 
191  class OrientationFeature : public Feature
192  {
193  DEFINE_CLASS_POINTER_TYPEDEFS(OrientationFeature)
194 
195  public:
196  OrientationFeature(const std::string& name, ControlFrame::Ptr frame);
197 
198  int getDimension() const;
199 
200  const Eigen::MatrixXd& getSpaceTransform() const;
201 
202  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
203  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
204  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
205  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
206  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
207  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
208  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
209 
210  const Eigen::VectorXd& computeEffort() const;
211  const Eigen::VectorXd& computeAcceleration() const;
212  const Eigen::VectorXd& computeError() const;
213  const Eigen::VectorXd& computeErrorDot() const;
214  const Eigen::MatrixXd& computeJacobian() const;
215  const Eigen::MatrixXd& computeProjectedMass() const;
216  const Eigen::MatrixXd& computeProjectedMassInverse() const;
217 
218  TaskState getState() const;
219  void setState(const TaskState& newState);
220 
221  private:
222  struct Pimpl;
223  boost::shared_ptr<Pimpl> pimpl;
224  };
225 
226 
227  // --- DISPLACEMENT -------------------------------------------
228 
230 
235  class DisplacementFeature : public Feature
236  {
237  DEFINE_CLASS_POINTER_TYPEDEFS(DisplacementFeature)
238 
239  public:
240  DisplacementFeature(const std::string& name, ControlFrame::Ptr frame, ECartesianDof axes);
241 
242  int getDimension() const;
243 
244  const Eigen::MatrixXd& getSpaceTransform() const;
245 
246  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
247  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
248  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
249  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
250  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
251  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
252  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
253 
254  const Eigen::VectorXd& computeEffort() const;
255  const Eigen::VectorXd& computeAcceleration() const;
256  const Eigen::VectorXd& computeError() const;
257  const Eigen::VectorXd& computeErrorDot() const;
258  const Eigen::MatrixXd& computeJacobian() const;
259  const Eigen::MatrixXd& computeProjectedMass() const;
260  const Eigen::MatrixXd& computeProjectedMassInverse() const;
261 
262  TaskState getState() const;
263  void setState(const TaskState& newState);
264 
265  private:
266  struct Pimpl;
267  boost::shared_ptr<Pimpl> pimpl;
268  };
269 
270 
271  // --- CONTACT CONSTRAINT -------------------------------------
272 
274 
279  class ContactConstraintFeature : public Feature
280  {
281  DEFINE_CLASS_POINTER_TYPEDEFS(ContactConstraintFeature)
282 
283  public:
284  ContactConstraintFeature(const std::string& name, ControlFrame::Ptr frame);
285 
286  int getDimension() const;
287 
288  const Eigen::MatrixXd& getSpaceTransform() const;
289 
290  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
291  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
292  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
293  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
294  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
295  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
296  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
297 
298  const Eigen::VectorXd& computeEffort() const;
299  const Eigen::VectorXd& computeAcceleration() const;
300  const Eigen::VectorXd& computeError() const;
301  const Eigen::VectorXd& computeErrorDot() const;
302  const Eigen::MatrixXd& computeJacobian() const;
303  const Eigen::MatrixXd& computeProjectedMass() const;
304  const Eigen::MatrixXd& computeProjectedMassInverse() const;
305 
306 
307  TaskState getState() const;
308  void setState(const TaskState& newState);
309 
310 
311  private:
312  struct Pimpl;
313  boost::shared_ptr<Pimpl> pimpl;
314  };
315 
316 
317 
318 
319 
320  // --- ARTICULAR ----------------------------------------------
321 
323 
326  class FullStateFeature : public Feature
327  {
328  DEFINE_CLASS_POINTER_TYPEDEFS(FullStateFeature)
329 
330  public:
331  FullStateFeature(const std::string& name, FullState::Ptr state);
332 
333  int getDimension() const;
334 
335  const Eigen::MatrixXd& getSpaceTransform() const;
336 
337  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
338  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
339  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
340  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
341  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
342  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
343  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
344 
345  const Eigen::VectorXd& computeEffort() const;
346  const Eigen::VectorXd& computeAcceleration() const;
347  const Eigen::VectorXd& computeError() const;
348  const Eigen::VectorXd& computeErrorDot() const;
349  const Eigen::MatrixXd& computeJacobian() const;
350  const Eigen::MatrixXd& computeProjectedMass() const;
351  const Eigen::MatrixXd& computeProjectedMassInverse() const;
352 
353 
354  TaskState getState() const;
355  void setState(const TaskState& newState);
356 
357 
358  private:
359  struct Pimpl;
360  boost::shared_ptr<Pimpl> pimpl;
361  };
362 
363  // --- PARTIAL - ARTICULAR ----------------------------------------
364 
366 
369  class PartialStateFeature : public Feature
370  {
371  DEFINE_CLASS_POINTER_TYPEDEFS(PartialStateFeature)
372 
373  public:
374  PartialStateFeature(const std::string& name, PartialState::Ptr state);
375 
376  int getDimension() const;
377 
378  const Eigen::MatrixXd& getSpaceTransform() const;
379 
380  const Eigen::VectorXd& computeEffort(const Feature& featureDes) const;
381  const Eigen::VectorXd& computeAcceleration(const Feature& featureDes) const;
382  const Eigen::VectorXd& computeError(const Feature& featureDes) const;
383  const Eigen::VectorXd& computeErrorDot(const Feature& featureDes) const;
384  const Eigen::MatrixXd& computeJacobian(const Feature& featureDes) const;
385  const Eigen::MatrixXd& computeProjectedMass(const Feature& featureDes) const;
386  const Eigen::MatrixXd& computeProjectedMassInverse(const Feature& featureDes) const;
387 
388  const Eigen::VectorXd& computeEffort() const;
389  const Eigen::VectorXd& computeAcceleration() const;
390  const Eigen::VectorXd& computeError() const;
391  const Eigen::VectorXd& computeErrorDot() const;
392  const Eigen::MatrixXd& computeJacobian() const;
393  const Eigen::MatrixXd& computeProjectedMass() const;
394  const Eigen::MatrixXd& computeProjectedMassInverse() const;
395 
396 
397  TaskState getState() const;
398  void setState(const TaskState& newState);
399 
400 
401  private:
402  struct Pimpl;
403  boost::shared_ptr<Pimpl> pimpl;
404  };
405 }
406 
407 #endif
408 
409 // cmake:sourcegroup=Api
ocra::PartialStateFeature
Used to build tasks in a partial configuration space.
Definition: Feature.h:369
ocra::Feature::computeProjectedMass
virtual const Eigen::MatrixXd & computeProjectedMass() const =0
ocra::Feature::computeAcceleration
virtual const Eigen::VectorXd & computeAcceleration() const =0
ControlFrame.h
Classes that represent frames.
ocra::OrientationFeature
Used to build orientation tasks.
Definition: Feature.h:191
ocra::Feature::setState
virtual void setState(const TaskState &newState)=0
Model.h
Declaration file of the Model class.
PartialState.h
Define partial state classes that can be used to control some joints of the robot.
ocra::Feature
Feature interface, used by tasks to compute errors and jacobians.
Definition: Feature.h:55
DEFINE_CLASS_POINTER_TYPEDEFS
#define DEFINE_CLASS_POINTER_TYPEDEFS(Class)
Definition: Macros.h:8
ocra
Optimization-based Robot Controller namespace. a library of classes to write and solve optimization p...
Definition: ContactAvoidanceConstraint.h:14
ocra::Feature::~Feature
virtual ~Feature()=0
Definition: Feature.cpp:17
ocra::PositionFeature
Used to build positioning tasks.
Definition: Feature.h:101
ocra::ECartesianDof
ECartesianDof
Definition: ControlEnum.h:18
ocra::FullStateFeature
Used to build tasks in the manikin configuration space.
Definition: Feature.h:326
ocra::Feature::computeProjectedMassInverse
virtual const Eigen::MatrixXd & computeProjectedMassInverse() const =0
ocra::PointContactFeature
Used to build point contact tasks.
Definition: Feature.h:147
ocra::Feature::computeJacobian
virtual const Eigen::MatrixXd & computeJacobian() const =0
ocra::DisplacementFeature
Used to build position/orientation tasks.
Definition: Feature.h:235
ocra::Feature::getState
virtual TaskState getState() const =0
ocra::Feature::computeError
virtual const Eigen::VectorXd & computeError() const =0
ocra::Feature::getDimension
virtual int getDimension() const =0
ocra::ContactConstraintFeature
Used to build contact constraint tasks (null acceleration).
Definition: Feature.h:279
ocra::Feature::Feature
Feature(const std::string &name)
Definition: Feature.cpp:12
ocra::Feature::computeErrorDot
virtual const Eigen::VectorXd & computeErrorDot() const =0
ocra::Feature::getSpaceTransform
virtual const Eigen::MatrixXd & getSpaceTransform() const =0
ocra::Feature::computeEffort
virtual const Eigen::VectorXd & computeEffort() const =0
ControlEnum.h
Some enumerations for the control.
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