FloatingBaseObserver.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
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#pragma once

#include <mc_rbdyn/Robot.h>

#include <SpaceVecAlg/SpaceVecAlg>

namespace lipm_walking
{

struct FloatingBaseObserver
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  FloatingBaseObserver(const mc_rbdyn::Robot & controlRobot);

  sva::PTransformd getAnchorFrame(const mc_rbdyn::Robot & robot);

  void reset(const sva::PTransformd & X_0_fb);

  void run(const mc_rbdyn::Robot & realRobot);

  void updateRobot(mc_rbdyn::Robot & robot);

  const Eigen::Quaterniond & imuOrientation()
  {
    return controlRobot_.bodySensor().orientation();
  }

  void leftFootRatio(double ratio)
  {
    leftFootRatio_ = ratio;
  }

private:
  void estimateOrientation(const mc_rbdyn::Robot & realRobot);

  /* Update floating-base position.
   *
   * \param realRobot Measurements robot model.
   *
   * The new position is chosen so that the origin of the real anchor frame
   * coincides with the control anchor frame.
   *
   */
  void estimatePosition(const mc_rbdyn::Robot & realRobot);

private:
  Eigen::Matrix3d orientation_; 
  Eigen::Vector3d position_; 
  const mc_rbdyn::Robot & controlRobot_; 
  double leftFootRatio_; 
};

} // namespace lipm_walking