ORCA: Optimization-based framework for Robotic Control Applications
WrenchTask.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 #pragma once
38 #include "orca/math/Utils.h"
39 #include "orca/common/Wrench.h"
41 #include "orca/task/GenericTask.h"
42 
43 namespace orca
44 {
45 namespace task
46 {
47 
48 class WrenchTask : public GenericTask
49 {
50 public:
51  WrenchTask(const std::string& name);
52 
53  void setDesiredWrench(const math::Vector6d& wrench_at_control_frame);
54  void setDesiredWrench(const std::array<double,6>& wrench_at_control_frame);
55 
56  void setBaseFrame(const std::string& base_ref_frame);
57 
58  void setControlFrame(const std::string& control_frame);
59 
60  const std::string& getBaseFrame() const;
61 
62  const std::string& getControlFrame() const;
63 
64  void setCurrentWrenchValue(const math::Vector6d& current_wrench_from_ft_sensor);
65 
66  void setFeedforward(const math::Vector6d& feedforward_wrench);
67 
68  const math::Vector6d& getFeedforward() const;
69 
71 
72 protected:
73  virtual void onActivation();
74  virtual void onUpdateAffineFunction(double current_time, double dt);
75  virtual void onResize();
76 private:
77  common::Parameter<math::Vector6d> wrench_des_ = math::Vector6d::Zero();
78  common::Parameter<common::PIDController::Ptr > pid_ = std::make_shared<common::PIDController>("pid");
80 private:
81  math::Vector6d wrench_tmp_;
82 };
83 
84 } // namespace task
85 } // namespace orca
virtual void onResize()
Definition: WrenchTask.cc:80
void setFeedforward(const math::Vector6d &feedforward_wrench)
Definition: WrenchTask.cc:48
const std::string & getBaseFrame() const
Definition: WrenchTask.cc:38
virtual void onUpdateAffineFunction(double current_time, double dt)
Definition: WrenchTask.cc:75
Definition: GenericTask.h:50
const math::Vector6d & getFeedforward() const
Definition: WrenchTask.cc:53
virtual void onActivation()
Definition: WrenchTask.cc:67
void setControlFrame(const std::string &control_frame)
Definition: WrenchTask.cc:33
void setCurrentWrenchValue(const math::Vector6d &current_wrench_from_ft_sensor)
Definition: WrenchTask.cc:58
WrenchTask(const std::string &name)
Definition: WrenchTask.cc:9
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:62
Definition: CartesianAccelerationPID.h:44
void setDesiredWrench(const math::Vector6d &wrench_at_control_frame)
void setBaseFrame(const std::string &base_ref_frame)
Definition: WrenchTask.cc:28
common::PIDController::Ptr pid()
Definition: WrenchTask.cc:63
Definition: WrenchTask.h:48
const std::string & getControlFrame() const
Definition: WrenchTask.cc:43
std::shared_ptr< PIDController > Ptr
Definition: PIDController.h:51