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| /* | ||
| * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT) | ||
| * All rights reserved. | ||
| * | ||
| * This project is dual licensed under LGPL v2.1+ or Apachi License. | ||
| * | ||
| * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * | ||
| * | ||
| * This software may be modified and distributed under the terms of the | ||
| * GNU Lesser General Public License v2.1 or any later version. | ||
| * | ||
| * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
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| #ifndef SCENARIO_GAZEBO_JOINT_H | ||
| #define SCENARIO_GAZEBO_JOINT_H | ||
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| #include <ignition/gazebo/Entity.hh> | ||
| #include <ignition/gazebo/EntityComponentManager.hh> | ||
| #include <ignition/gazebo/EventManager.hh> | ||
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| #include <limits> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
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| namespace scenario { | ||
| namespace base { | ||
| struct PID; | ||
| struct Limit; | ||
| enum class JointType | ||
| { | ||
| Invalid, | ||
| Fixed, | ||
| Revolute, | ||
| Prismatic, | ||
| Ball, | ||
| }; | ||
| enum class JointControlMode | ||
| { | ||
| Idle, | ||
| Force, | ||
| Velocity, | ||
| Position, | ||
| PositionInterpolated, | ||
| }; | ||
| } // namespace base | ||
| namespace gazebo { | ||
| class Joint; | ||
| class Model; | ||
| } // namespace gazebo | ||
| } // namespace scenario | ||
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| class scenario::gazebo::Joint | ||
| { | ||
| public: | ||
| Joint(); | ||
| virtual ~Joint(); | ||
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| // ============ | ||
| // Gazebo Joint | ||
| // ============ | ||
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| uint64_t id() const; | ||
| bool initialize(const ignition::gazebo::Entity jointEntity, | ||
| ignition::gazebo::EntityComponentManager* ecm, | ||
| ignition::gazebo::EventManager* eventManager); | ||
| bool createECMResources(); | ||
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| bool historyOfAppliedJointForcesEnabled() const; | ||
| bool enableHistoryOfAppliedJointForces( // | ||
| const bool enable, | ||
| const size_t maxHistorySize = 100); | ||
| std::vector<double> getHistoryOfAppliedJointForces() const; | ||
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| // ========== | ||
| // Joint Core | ||
| // ========== | ||
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| size_t dofs() const; | ||
| std::string name() const; | ||
| base::JointType type() const; | ||
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| base::Limit positionLimit() const; | ||
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| base::JointControlMode controlMode() const; | ||
| bool setControlMode(const base::JointControlMode mode); | ||
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| double controllerPeriod() const; | ||
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| double maxEffort() const; | ||
| bool setMaxEffort(const double maxEffort); | ||
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| base::PID pid() const; | ||
| bool setPID(const base::PID& pid); | ||
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| // ================== | ||
| // Single DOF methods | ||
| // ================== | ||
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| double force(const size_t dof = 0) const; | ||
| double position(const size_t dof = 0) const; | ||
| double velocity(const size_t dof = 0) const; | ||
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| bool setForce(const double force, const size_t dof = 0); | ||
| bool setPositionTarget(const double position, const size_t dof = 0); | ||
| bool setVelocityTarget(const double velocity, const size_t dof = 0); | ||
| bool setAccelerationTarget(const double acceleration, const size_t dof = 0); | ||
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| double positionTarget(const size_t dof = 0) const; | ||
| double velocityTarget(const size_t dof = 0) const; | ||
| double accelerationTarget(const size_t dof = 0) const; | ||
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| bool resetPosition(const double position, const size_t dof = 0); | ||
| bool resetVelocity(const double velocity, const size_t dof = 0); | ||
| bool reset(const double position, // | ||
| const double velocity, | ||
| const size_t dof = 0); | ||
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| // ================= | ||
| // Multi DOF methods | ||
| // ================= | ||
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| std::vector<double> jointForce() const; | ||
| std::vector<double> jointPosition() const; | ||
| std::vector<double> jointVelocity() const; | ||
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| bool setJointForce(const std::vector<double>& force); | ||
| bool setJointPositionTarget(const std::vector<double>& position); | ||
| bool setJointVelocityTarget(const std::vector<double>& velocity); | ||
| bool setJointAccelerationTarget(const std::vector<double>& acceleration); | ||
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| std::vector<double> jointPositionTarget() const; | ||
| std::vector<double> jointVelocityTarget() const; | ||
| std::vector<double> jointAccelerationTarget() const; | ||
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| bool resetJointPosition(const std::vector<double>& position); | ||
| bool resetJointVelocity(const std::vector<double>& velocity); | ||
| bool resetJoint(const std::vector<double>& position, | ||
| const std::vector<double>& velocity); | ||
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| private: | ||
| class Impl; | ||
| std::unique_ptr<Impl> pImpl; | ||
| }; | ||
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| struct scenario::base::PID | ||
| { | ||
| PID() = default; | ||
| PID(const double _p, const double _i, const double _d) | ||
| : p(_p) | ||
| , i(_i) | ||
| , d(_d) | ||
| {} | ||
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| double p = 0; | ||
| double i = 0; | ||
| double d = 0; | ||
| }; | ||
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| struct scenario::base::Limit | ||
| { | ||
| Limit() = default; | ||
| Limit(const double _min, const double _max) | ||
| : min(_min) | ||
| , max(_max) | ||
| {} | ||
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| double min = std::numeric_limits<double>::lowest(); | ||
| double max = std::numeric_limits<double>::max(); | ||
| }; | ||
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| #endif // SCENARIO_GAZEBO_JOINT_H |
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