State.hpp

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#ifndef EXAMPLES_ATLASSIMBICON_STATE_HPP_
#define EXAMPLES_ATLASSIMBICON_STATE_HPP_

#include <map>
#include <string>
#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

#define ATLAS_DEFAULT_KD 1.0 // No more than 1.0
#define ATLAS_DEFAULT_KP 1e+3

#define ATLAS_DEFAULT_SAGITAL_CD 0.1
#define ATLAS_DEFAULT_SAGITAL_CV 0.1

#define ATLAS_DEFAULT_CORONAL_CD 0.1
#define ATLAS_DEFAULT_CORONAL_CV 0.1

namespace dart {
namespace dynamics {
class BodyNode;
class Joint;
class Skeleton;
} // namespace dynamics
} // namespace dart

class TerminalCondition;

//==============================================================================
class State
{
public:
  explicit State(
      dart::dynamics::SkeletonPtr _skeleton, const std::string& _name);

  virtual ~State();

  //------------------------------- Setting ------------------------------------
  void setName(std::string& _name);

  const std::string& getName() const;

  void setNextState(State* _nextState);

  void setTerminalCondition(TerminalCondition* _condition);

  State* getNextState() const;

  double getElapsedTime() const;

  //----------------------- Setting Desired Position ---------------------------
  void setDesiredJointPosition(const std::string& _jointName, double _val);

  double getDesiredJointPosition(int _idx) const;

  double getDesiredJointPosition(const std::string& _jointName) const;

  void setDesiredSwingLegGlobalAngleOnSagital(double _val);

  void setDesiredSwingLegGlobalAngleOnCoronal(double _val);

  void setDesiredPelvisGlobalAngleOnSagital(double _val);

  void setDesiredPelvisGlobalAngleOnCoronal(double _val);

  void setProportionalGain(int _idx, double _val);

  void setProportionalGain(const std::string& _jointName, double _val);

  double getProportionalGain(int _idx) const;

  double getProportionalGain(const std::string& _jointName) const;

  void setDerivativeGain(int _idx, double _val);

  void setDerivativeGain(const std::string& _jointName, double _val);

  double getDerivativeGain(int _idx) const;

  // /// \brief Get derivative gain for PD controller
  // double getDerivativeGain(const std::string& _jointName) const;

  void setFeedbackSagitalCOMDistance(std::size_t _index, double _val);

  void setFeedbackSagitalCOMVelocity(std::size_t _index, double _val);

  void setFeedbackCoronalCOMDistance(std::size_t _index, double _val);

  void setFeedbackCoronalCOMVelocity(std::size_t _index, double _val);

  void setStanceFootToLeftFoot();

  void setStanceFootToRightFoot();

  //------------------------------- Control ------------------------------------
  virtual void begin(double _currentTime);

  virtual void computeControlForce(double _timestep);

  virtual bool isTerminalConditionSatisfied() const;

  virtual void end(double _currentTime);

protected:
  Eigen::Vector3d getCOM() const;

  Eigen::Vector3d getCOMVelocity() const;

  Eigen::Isometry3d getCOMFrame() const;

  double getSagitalCOMDistance();

  double getSagitalCOMVelocity();

  double getCoronalCOMDistance();

  double getCoronalCOMVelocity();

  Eigen::Vector3d getStanceAnklePosition() const;

  Eigen::Vector3d getLeftAnklePosition() const;

  Eigen::Vector3d getRightAnklePosition() const;

  // TODO(JS): Not implemented yet
  double getSagitalPelvisAngle() const;

  // TODO(JS): Not implemented yet
  double getCoronalPelvisAngle() const;

  double getSagitalLeftLegAngle() const;

  double getSagitalRightLegAngle() const;

  double getCoronalLeftLegAngle() const;

  double getCoronalRightLegAngle() const;

  std::string mName;

  dart::dynamics::SkeletonPtr mSkeleton;

  State* mNextState;

  TerminalCondition* mTerminalCondition;

  double mBeginTime;

  double mEndTime;

  int mFrame;

  double mElapsedTime;

  Eigen::VectorXd mDesiredJointPositions;

  double mDesiredGlobalSwingLegAngleOnSagital;

  double mDesiredGlobalSwingLegAngleOnCoronal;

  double mDesiredGlobalPelvisAngleOnSagital;

  double mDesiredGlobalPelvisAngleOnCoronal;

  Eigen::VectorXd mKp;

  Eigen::VectorXd mKd;

  Eigen::VectorXd mSagitalCd;

  Eigen::VectorXd mSagitalCv;

  Eigen::VectorXd mCoronalCd;

  Eigen::VectorXd mCoronalCv;

  Eigen::VectorXd mTorque;

  std::map<const std::string, int> mJointMap;

private:
  Eigen::Vector3d _getJointPosition(dart::dynamics::BodyNode* _bodyNode) const;

  double _getAngleBetweenTwoVectors(
      const Eigen::Vector3d& _v1, const Eigen::Vector3d& _v2) const;

  void _updateTorqueForStanceLeg();

  dart::dynamics::BodyNode* mPelvis;

  dart::dynamics::BodyNode* mLeftThigh;

  dart::dynamics::BodyNode* mRightThigh;

  dart::dynamics::BodyNode* mStanceFoot;

  dart::dynamics::BodyNode* mLeftFoot;

  dart::dynamics::BodyNode* mRightFoot;

  std::size_t mCoronalLeftHip;

  std::size_t mCoronalRightHip;

  std::size_t mSagitalLeftHip;

  std::size_t mSagitalRightHip;

  Eigen::VectorXd mDesiredJointPositionsBalance;
};

#endif // EXAMPLES_ATLASSIMBICON_STATE_HPP_