JointImpedanceController.hpp

/*
    Copyright (c) Tobias Löw
    Written by Tobias Löw <https://tobiloew.ch>
 
    This file is part of orwell.
 
    gafro is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3 as
    published by the Free Software Foundation.
 
    gafro is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU General Public License for more details.
 
    You should have received a copy of the GNU General Public License
    along with gafro. If not, see <http://www.gnu.org/licenses/>.
*/
 
#pragma once
 
#include <orwell/ReferenceController.hpp>
#include <orwell/torque/TorqueController.hpp>
 
namespace orwell
{
 
    template <int dof>
    class JointImpedanceController : public TorqueReferenceController<dof, Eigen::Vector<double, dof>>
    {
      public:
        JointImpedanceController(const sackmesser::Interface::Ptr &interface, const std::string &name);
 
        virtual ~JointImpedanceController();
 
        Eigen::Vector<double, dof> computeCommand();
 
      private:
        Eigen::Vector<double, dof> limit(const Eigen::Vector<double, dof> &position_difference);
 
      private:
        struct Configuration : public sackmesser::Configuration
        {
            bool load(const std::string &ns, const std::shared_ptr<sackmesser::Configurations> &server);
 
            Eigen::Matrix<double, dof, dof> stiffness_;
 
            Eigen::Matrix<double, dof, dof> damping_;
 
            Eigen::Vector<double, dof> position_difference_limit_;
        } config_;
    };
 
}  // namespace orwell
 
#include <orwell/torque/JointImpedanceController.hxx>
 
REGISTER_CLASS(orwell::TorqueController<7>, orwell::JointImpedanceController<7>, "joint_impedance_controller")