ft-wrist-calibration.hh

/*
 * Copyright 2019
 * LAAS-CNRS
 * F. Bailly
 * T. Flayol
 * F. Risbourg
 */

#ifndef __sot_talos_balance_ft_wrist_calibration_H__
#define __sot_talos_balance_ft_wrist_calibration_H__

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(__sot_talos_balance_ft_wrist_calibration_H__)
#define SOTFTWRISTCALIBRATION_EXPORT __declspec(dllexport)
#else
#define SOTFTWRISTCALIBRATION_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFTWRISTCALIBRATION_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#include <pinocchio/fwd.hpp>
// include pinocchio first
#include <dynamic-graph/real-time-logger.h>
#include <dynamic-graph/signal-helper.h>

#include <map>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <pinocchio/spatial/motion.hpp>
#include <pinocchio/spatial/se3.hpp>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
#include <sot/talos_balance/robot/robot-wrapper.hh>

#include "boost/assign.hpp"

namespace dynamicgraph {
namespace sot {
namespace talos_balance {

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

class SOTFTWRISTCALIBRATION_EXPORT FtWristCalibration
    : public ::dynamicgraph::Entity {
  // typedef FtCalibration EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();

 public:
  /* --- CONSTRUCTOR ---- */
  FtWristCalibration(const std::string &name);
  /// Initialize
  void init(const std::string &robotRef);

  /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(rightWristForceIn, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(leftWristForceIn, dynamicgraph::Vector);
  DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(rightWeight, dynamicgraph::Vector);
  DECLARE_SIGNAL_INNER(leftWeight, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(rightWristForceOut, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(leftWristForceOut, dynamicgraph::Vector);

  /* --- COMMANDS --- */

  /// Commands for setting the hand weight
  void setRightHandConf(const double &rightW, const Vector &rightLeverArm);
  void setLeftHandConf(const double &leftW, const Vector &leftLeverArm);

  /// Command to calibrate the wrist sensors when the robot is in half sitting
  /// with the hands aligned
  void calibrateWristSensor();

  /**
   * @brief  Set to true if you want to remove the weight from the force
   *
   * @param[in] removeWeight  Boolean used to remove the weight
   */
  void setRemoveWeight(const bool &removeWeight);

  void displayRobotUtil();

  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;

  /* --- TYPEDEFS ---- */
  typedef Eigen::Matrix<double, 6, 1> Vector6d;
  typedef Eigen::Matrix<double, 3, 1> Vector3d;

 protected:
  /// Robot Util instance to get the sensor frame
  RobotUtilShrPtr m_robot_util;
  /// Pinocchio robot model
  pinocchio::Model m_model;
  /// Pinocchio robot data
  pinocchio::Data *m_data;
  /// Id of the force sensor frame
  pinocchio::FrameIndex m_rightSensorId;
  /// Id of the joint of the end-effector
  pinocchio::FrameIndex m_leftSensorId;
  /// Number of iteration for right calibration (-2 = not calibrated, -1 =
  /// caibration done)
  int m_rightCalibrationIter = -2;
  /// Number of iteration for right calibration (-2 = not calibrated, -1 =
  /// caibration done)
  int m_leftCalibrationIter = -2;
  /// Offset or bias to be removed from Right FT sensor
  Vector6d m_right_FT_offset;
  /// Offset or bias to be removed from Left FT sensor
  Vector6d m_left_FT_offset;
  /// Variable used during average computation of the offset
  Vector6d m_right_FT_offset_calibration_sum;
  /// Variable used during average computation of the offset
  Vector6d m_left_FT_offset_calibration_sum;
  /// Variable used during average computation of the weight
  Vector6d m_right_weight_calibration_sum;
  /// Variable used during average computation of the weight
  Vector6d m_left_weight_calibration_sum;
  /// true if the entity has been successfully initialized
  bool m_initSucceeded;
  /// weight of the right hand
  Vector6d m_rightHandWeight;
  /// weight of the left hand
  Vector6d m_leftHandWeight;
  /// right hand lever arm
  Vector3d m_rightLeverArm;
  /// left hand lever arm
  Vector3d m_leftLeverArm;
  /// If true, the weight of the end effector is removed from the force
  bool m_removeWeight;

};  // class FtWristCalibration

}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph

#endif  // #ifndef __sot_talos_balance_ft_wrist_calibration_H__