ORCA: Optimization-based framework for Robotic Control Applications
Wrench.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
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36 
37 
38 #pragma once
39 
40 #include "orca/common/TaskBase.h"
41 
42 namespace orca
43 {
44 namespace common
45 {
46 
47 
48 class Wrench : public TaskBase
49 {
50 public:
51  using Ptr = std::shared_ptr<Wrench>;
52 
53  Wrench(const std::string& name);
54 
55  void setBaseFrame(const std::string& base_ref_frame);
56 
57  void setControlFrame(const std::string& control_frame);
58 
59  void setCurrentValue(const Eigen::Matrix<double,6,1>& current_wrench_from_ft_sensor);
60 
61  const Eigen::Matrix<double,6,1>& getCurrentValue() const;
62 
63  const std::string& getBaseFrame() const;
64 
65  const std::string& getControlFrame() const;
66 
67  const Eigen::MatrixXd& getJacobianTranspose() const;
68 
69  const Eigen::MatrixXd& getJacobian() const;
70 
71  void print() const;
72 
73 protected:
74  void onCompute(double current_time, double dt);
75  void onActivation();
76  void onResize();
77  void onDeactivated();
78 private:
79  Parameter<std::string> base_ref_frame_;
80  Parameter<std::string> control_frame_;
81 private:
82  Eigen::MatrixXd jacobian_transpose_;
83  Eigen::MatrixXd jacobian_;
84  Eigen::Matrix<double,6,1> current_wrench_;
85 };
86 
87 } // namespace common
88 } // namespace orca
void onResize()
Definition: Wrench.cc:82
void setCurrentValue(const Eigen::Matrix< double, 6, 1 > &current_wrench_from_ft_sensor)
Definition: Wrench.cc:15
void onCompute(double current_time, double dt)
Definition: Wrench.cc:68
std::shared_ptr< ConfigurableOrcaObject > Ptr
Definition: ConfigurableOrcaObject.h:17
void print() const
Definition: Wrench.cc:94
void onDeactivated()
Definition: Wrench.cc:63
void setBaseFrame(const std::string &base_ref_frame)
Definition: Wrench.cc:25
Definition: Wrench.h:48
void onActivation()
Definition: Wrench.cc:55
const std::string & getControlFrame() const
Definition: Wrench.cc:40
void setControlFrame(const std::string &control_frame)
Definition: Wrench.cc:30
Definition: CartesianAccelerationPID.h:44
const Eigen::MatrixXd & getJacobianTranspose() const
Definition: Wrench.cc:45
Wrench(const std::string &name)
Definition: Wrench.cc:8
const Eigen::MatrixXd & getJacobian() const
Definition: Wrench.cc:50
The common base class for tasks and constraints.
Definition: TaskBase.h:59
const std::string & getBaseFrame() const
Definition: Wrench.cc:35
const Eigen::Matrix< double, 6, 1 > & getCurrentValue() const
Definition: Wrench.cc:20