Blender  V3.3
ControlledObject.hpp
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1 /* SPDX-License-Identifier: LGPL-2.1-or-later
2  * Copyright 2009 Ruben Smits. */
3 
8 #ifndef CONTROLLEDOBJECT_HPP_
9 #define CONTROLLEDOBJECT_HPP_
10 
11 #include "kdl/frames.hpp"
12 #include "eigen_types.hpp"
13 
14 #include "Object.hpp"
15 #include "ConstraintSet.hpp"
16 #include <vector>
17 
18 namespace iTaSC {
19 
20 #define CONSTRAINT_ID_ALL ((unsigned int)-1)
21 
22 class ControlledObject : public Object {
23 protected:
25  unsigned int m_nq,m_nc,m_nee;
28  std::vector<e_matrix> m_JqArray;
29 public:
31  virtual ~ControlledObject();
32 
34  public:
36  virtual ~JointLockCallback() {}
37 
38  // lock a joint, no need to update output
39  virtual void lockJoint(unsigned int q_nr, unsigned int ndof) = 0;
40  // lock a joint and update output in view of reiteration
41  virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot) = 0;
42  };
43 
44  virtual void initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee);
45 
46  // returns true when a joint has been locked via the callback and the solver must run again
47  virtual bool updateJoint(const Timestamp& timestamp, JointLockCallback& callback) = 0;
48  virtual void updateControlOutput(const Timestamp& timestamp)=0;
49  virtual void setJointVelocity(const e_vector qdot_in){m_qdot = qdot_in;};
50  virtual double getMaxTimestep(double& timestep);
51  virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0;
52 
53  virtual const e_vector& getControlOutput() const{return m_ydot;}
54 
55  virtual const e_matrix& getJq(unsigned int ee) const;
56 
57  virtual const e_matrix& getCq() const{return m_Cq;};
58 
59  virtual e_matrix& getWq() {return m_Wq;};
60  virtual void setWq(const e_matrix& Wq_in){m_Wq = Wq_in;};
61 
62  virtual const e_vector& getWy() const {return m_Wy;};
63 
64  virtual const unsigned int getNrOfCoordinates(){return m_nq;};
65  virtual const unsigned int getNrOfConstraints(){return m_nc;};
66 };
67 
68 }
69 
70 #endif /* CONTROLLEDOBJECT_HPP_ */
virtual void lockJoint(unsigned int q_nr, unsigned int ndof)=0
virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double *qdot)=0
virtual const unsigned int getNrOfCoordinates()
std::vector< e_matrix > m_JqArray
virtual void setWq(const e_matrix &Wq_in)
virtual const e_vector & getControlOutput() const
virtual const e_matrix & getCq() const
virtual void updateControlOutput(const Timestamp &timestamp)=0
virtual const e_matrix & getJq(unsigned int ee) const
virtual const unsigned int getNrOfConstraints()
virtual bool updateJoint(const Timestamp &timestamp, JointLockCallback &callback)=0
virtual double getMaxTimestep(double &timestep)
virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual void initialize(unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual const e_vector & getWy() const
virtual e_matrix & getWq()
virtual void setJointVelocity(const e_vector qdot_in)
DEGForeachIDComponentCallback callback
#define e_vector
Definition: eigen_types.hpp:38
#define e_scalar
Definition: eigen_types.hpp:37
#define e_matrix
Definition: eigen_types.hpp:40