Controller.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 */

#pragma once

#include <mc_control/api.h>
#include <mc_control/fsm/Controller.h>
#include <mc_control/mc_controller.h>
#include <mc_rtc/logging.h>
#include <mc_rtc/ros.h>

#include <ros/ros.h>
#include <tf2_ros/transform_broadcaster.h>
#include <visualization_msgs/MarkerArray.h>

#include <lipm_walking/Contact.h>
#include <lipm_walking/FloatingBaseObserver.h>
#include <lipm_walking/FootstepPlan.h>
#include <lipm_walking/ModelPredictiveControl.h>
#include <lipm_walking/NetWrenchObserver.h>
#include <lipm_walking/Pendulum.h>
#include <lipm_walking/PlanInterpolator.h>
#include <lipm_walking/Sole.h>
#include <lipm_walking/Stabilizer.h>
#include <lipm_walking/utils/LowPassVelocityFilter.h>
#include <mutex>
#include <thread>

namespace lipm_walking
{

constexpr double PREVIEW_UPDATE_PERIOD = ModelPredictiveControl::SAMPLING_PERIOD;

struct MC_CONTROL_DLLAPI Controller : public mc_control::fsm::Controller
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Controller(std::shared_ptr<mc_rbdyn::RobotModule> robot, double dt, const mc_rtc::Configuration & config);

  void reset(const mc_control::ControllerResetData & data) override;

  void addGUIElements(std::shared_ptr<mc_rtc::gui::StateBuilder> gui);

  void addGUIMarkers(std::shared_ptr<mc_rtc::gui::StateBuilder> gui);

  void addLogEntries(mc_rtc::Logger & logger);

  void internalReset();

  void leftFootRatio(double ratio);

  void loadFootstepPlan(std::string name);

  void pauseWalkingCallback(bool verbose = false);

  virtual bool run() override;

  void startLogSegment(const std::string & label);

  void stopLogSegment();

  bool updatePreview();

  void updateRealFromKinematics();

  void warnIfRobotIsInTheAir();

  mc_rbdyn::Robot & controlRobot()
  {
    return mc_control::fsm::Controller::robot();
  }

  double doubleSupportDuration()
  {
    double duration;
    if(doubleSupportDurationOverride_ > 0.)
    {
      duration = doubleSupportDurationOverride_;
      doubleSupportDurationOverride_ = -1.;
    }
    else
    {
      duration = plan.doubleSupportDuration();
    }
    return duration;
  }

  bool isLastDSP()
  {
    return (supportContact().id > targetContact().id);
  }

  bool isLastSSP()
  {
    return (targetContact().id > nextContact().id);
  }

  double leftFootRatio()
  {
    return leftFootRatio_;
  }

  double measuredLeftFootRatio()
  {
    double leftFootPressure = realRobot().forceSensor("LeftFootForceSensor").force().z();
    double rightFootPressure = realRobot().forceSensor("RightFootForceSensor").force().z();
    leftFootPressure = std::max(0., leftFootPressure);
    rightFootPressure = std::max(0., rightFootPressure);
    return leftFootPressure / (leftFootPressure + rightFootPressure);
  }

  ModelPredictiveControl & mpc()
  {
    return mpc_;
  }

  const Contact & nextContact() const
  {
    return plan.nextContact();
  }

  void nextDoubleSupportDuration(double duration)
  {
    doubleSupportDurationOverride_ = duration;
  }

  Pendulum & pendulum()
  {
    return pendulum_;
  }

  const Contact & prevContact() const
  {
    return plan.prevContact();
  }

  mc_rbdyn::Robot & realRobot()
  {
    return real_robots->robot();
  }

  double singleSupportDuration()
  {
    return plan.singleSupportDuration();
  }

  const Sole & sole() const
  {
    return sole_;
  }

  Stabilizer & stabilizer()
  {
    return stabilizer_;
  }

  const Contact & supportContact()
  {
    return plan.supportContact();
  }

  const Contact & targetContact()
  {
    return plan.targetContact();
  }

public: /* visible to FSM states */
  FootstepPlan plan; 
  PlanInterpolator planInterpolator; 
  bool emergencyStop = false; 
  bool pauseWalking = false; 
  bool pauseWalkingRequested = false; 
  std::shared_ptr<Preview> preview; 
  std::shared_ptr<mc_tasks::OrientationTask> pelvisTask; 
  std::shared_ptr<mc_tasks::OrientationTask> torsoTask; 
  std::vector<std::vector<double>>
      halfSitPose; 
private: /* hidden from FSM states */
  Eigen::Matrix3d pelvisOrientation_ = Eigen::Matrix3d::Identity(); 
  Eigen::Vector3d realCom_ = Eigen::Vector3d::Zero(); 
  Eigen::Vector3d realComd_ = Eigen::Vector3d::Zero(); 
  FloatingBaseObserver floatingBaseObs_; 
  LowPassVelocityFilter<Eigen::Vector3d> comVelFilter_; 
  ModelPredictiveControl mpc_; 
  NetWrenchObserver netWrenchObs_; 
  Pendulum pendulum_; 
  Sole sole_; 
  Stabilizer stabilizer_; 
  bool leftFootRatioJumped_ = false; 
  double ctlTime_ = 0.; 
  double defaultTorsoPitch_ = 0.; 
  double doubleSupportDurationOverride_ = -1.; // [s]
  double leftFootRatio_ = 0.5; 
  double maxCoMHeight_ = 2.; 
  double maxTorsoPitch_ = -0.2; 
  double minCoMHeight_ = 0.; 
  double minTorsoPitch_ = -0.2; 
  double torsoPitch_; 
  mc_rtc::Configuration mpcConfig_; 
  std::string segmentName_ = ""; 
  unsigned nbLogSegments_ = 100; 
  unsigned nbMPCFailures_ = 0; 
};

} // namespace lipm_walking