Add JPVTPIDGains-like interface (#515)

ros-controls · Oct 27, 2023 · 8c0262d · 8c0262d
1 parent 12edce5
commit 8c0262d
Showing 1 changed file with 109 additions and 0 deletions.
diff --git a/...e_interface/include/hardware_interface/position_velocity_torque_gains_command_interface.h b/...e_interface/include/hardware_interface/position_velocity_torque_gains_command_interface.h
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+///////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2021, University of Oxford
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of hiDOF, Inc. nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//////////////////////////////////////////////////////////////////////////////
+
+/// \author Wolfgang Merkt
+
+#pragma once
+
+
+#include <cassert>
+#include <string>
+#include <hardware_interface/internal/hardware_resource_manager.h>
+#include <hardware_interface/posvel_command_interface.h>
+
+namespace hardware_interface
+{
+
+/** \brief A handle used to read and command a single joint. */
+class PositionVelocityTorqueGainsJointHandle : public PosVelJointHandle
+{
+public:
+  PositionVelocityTorqueGainsJointHandle() = default;
+
+  /**
+   * \param js This joint's state handle
+   * \param cmd_pos A pointer to the storage for this joint's output command position
+   * \param cmd_vel A pointer to the storage for this joint's output command velocity
+   * \param cmd_eff A pointer to the storage for this joint's output command feed-forward torque
+   * \param cmd_kp A pointer to the storage for this joint's position tracking gain
+   * \param cmd_kd A pointer to the storage for this joint's velocity tracking gain
+   */
+  PositionVelocityTorqueGainsJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel, double* cmd_eff, double* cmd_kp, double* cmd_kd)
+    : PosVelJointHandle(js, cmd_pos, cmd_vel), cmd_eff_(cmd_eff), cmd_kp_(cmd_kp), cmd_kd_(cmd_kd)
+  {
+    if (!cmd_eff)
+    {
+      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command effort data pointer is null.");
+    }
+
+    if (!cmd_kp)
+    {
+      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command position gain data pointer is null.");
+    }
+
+    if (!cmd_kd)
+    {
+      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command derivative gain data pointer is null.");
+    }
+  }
+
+  void setCommand(double cmd_pos, double cmd_vel, double cmd_eff, double cmd_kp, double cmd_kd)
+  {
+    setCommandPosition(cmd_pos);
+    setCommandVelocity(cmd_vel);
+    setCommandEffort(cmd_eff);
+    setCommandKp(cmd_kp);
+    setCommandKd(cmd_kd);
+  }
+
+  void setCommandEffort(double cmd_eff) {assert(cmd_eff_); *cmd_eff_ = cmd_eff;}
+  double getCommandEffort() const {assert(cmd_eff_); return *cmd_eff_;}
+
+  void setCommandKp(double cmd_kp) {assert(cmd_kp_); *cmd_kp_ = cmd_kp;}
+  double getCommandKp() const {assert(cmd_kp_); return *cmd_kp_;}
+
+  void setCommandKd(double cmd_kd) {assert(cmd_kd_); *cmd_kd_ = cmd_kd;}
+  double getCommandKd() const {assert(cmd_kd_); return *cmd_kd_;}
+
+private:
+  double* cmd_eff_ = {nullptr};
+  double* cmd_kp_ = {nullptr};
+  double* cmd_kd_ = {nullptr};
+};
+
+
+/** \brief Hardware interface to support commanding an array of joints.
+ *
+ * This \ref HardwareInterface supports commanding joints by position, velocity,
+ * torque and PD gains together in one command.
+ *
+ * \note Getting a joint handle through the getHandle() method \e will claim that resource.
+ *
+ */
+class PositionVelocityTorqueGainsJointInterface : public HardwareResourceManager<PositionVelocityTorqueGainsJointHandle, ClaimResources> {};
+
+}