NetWrenchObserver.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 <SpaceVecAlg/SpaceVecAlg>

#include <lipm_walking/Contact.h>
#include <lipm_walking/Pendulum.h>

namespace lipm_walking
{

struct NetWrenchObserver
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  NetWrenchObserver();

  NetWrenchObserver(const std::vector<std::string> & sensorNames);

  void update(const mc_rbdyn::Robot & robot, const Contact & contact);

  const sva::ForceVecd & wrench()
  {
    return netWrench_;
  }

  const Eigen::Vector3d & zmp()
  {
    return netZMP_;
  }

private:
  void updateNetWrench(const mc_rbdyn::Robot & robot);

  void updateNetZMP(const Contact & contact);

private:
  Eigen::Vector3d netZMP_; 
  std::vector<std::string> sensorNames_ = {"LeftFootForceSensor",
                                           "RightFootForceSensor"}; 
  sva::ForceVecd netWrench_; 
};

} // namespace lipm_walking