iDynTransform.h

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/*
 * Copyright (C) 2010-2011 RobotCub Consortium
 * Author: Matteo Fumagalli
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */

 
/* How to use the FT sensor transformation:
 
istantiate your limb (example: iCubArm *arm)
istantiate a iFrameOnLink Variable as pointer (iFrameOnLink *Sens) and a pointer to a variable of type iGenericFrame
(ex: iGenericFrame *sensore)
Sens need a iGenericFrame and an iKinLimb variables with some properties defining the location of the sensor over a link of the 
iKinLimb chain.
 
example code:
 
    Matrix Rs(3,3);
    Vector ps(3);
    Rs=...
    ps=...
    iCubArm *arm = new iCubArm("left");
    iKinChain *chain;
    iGenericFrame *sensore = new iGenericFrame(Rs,ps);
    iFrameOnLink *Sens = new iFrameOnLink(2);
    chain=arm->asChain();
    
    Sens->attach(sensore);
    Sens->attach(arm);
        
    Vector q(7);
    q=...
    Vector FT;
    FT.resize(6);
    FT = ReadFT(); //a function that reads the FT values from a sensor
 
    Vector FT_B; //will be the vector of forces and torqes in the base frame
    
    arm->setAng(q);
    sensore->setFT(FT);
    FT_B = Sens->getFT();
 *
 */ 
 
#ifndef __IFORCECONTROL_H__
#define __IFORCECONTROL_H__
 
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <yarp/math/Math.h>
#include <yarp/math/SVD.h>
 
#include <iCub/ctrl/math.h>
//#include <iCub/iKin/iKinFwd.h>
#include <iCub/iDyn/iDyn.h>
#include <iCub/iDyn/iDynInv.h>
 
#include <string>
//#include <deque>
 
 
namespace iCub
{
 
namespace iDyn
{
    class iDynLink;
    class iDynChain;
    class iDynLimb;
    class iCubArmDyn;
    class iCubLegDyn;
    class iCubEyeDyn;
    class iCubEyeNeckRefDyn;
    class iCubInertialSensorDyn;
    class iFakeDyn;
    class iFakeDyn2GdL;
    class iDynSensor;
    class iDynSensorLeg;
    class iDynSensorArm;
    class iDynInvSensor;
    class OneLinkNewtonEuler;
    class BaseLinkNewtonEuler;
    class FinalLinkNewtonEuler;
    class SensorLinkNewtonEuler;
    class OneChainNewtonEuler;
    class iGenericFrame;
    class iFrameOnLink;
    class iFTransformation;
 

class iGenericFrame
{
private:
        // Default constructor: not implemented.
    yarp::sig::Matrix R; // Rotation Matrix wrt the link reference frame on which the FT sensor is put 
    yarp::sig::Vector p; // Vector distance of the FT sensor wrt the link reference frame on which the FT sensor is put 
    yarp::sig::Matrix H; // Rototranslation matrix
    yarp::sig::Vector FT;
public:
    /* Default Constructor */
    iGenericFrame();
    /* 
    * Overload constructor
    * @param _R is the rotation matrix with respect to another reference frame
    * @param _x, _y, _z are the position vector of one reference frame with respect 
    * to another 
    */
    iGenericFrame(const yarp::sig::Matrix &_R, double _x, double _y, double _z);
    /* 
    * Overload constructor
    * @param _R as previously
    * @param _p is a vector composed by {_x, _y, _z} of the previous definition 
    */
    iGenericFrame(const yarp::sig::Matrix &_R, const yarp::sig::Vector &_p);
 
    /*Initializes the variables. Used in all the constructors*/
    void initFTransform();
 
    /*
    * Set the Rotation matrix among two reference Frame 
    * @param _R is the rotation matrix with respect to another reference frame
    */
    void setR(const yarp::sig::Matrix &_R);
 
    /* 
    * Set the distance between the two reference Frame 
    * @param _x, _y, _z are the position vector of one reference frame with respect 
    * to another 
    */
    void setP(double _x, double _y, double _z);
    /* 
    * Set the distance between the two reference Frame 
    * where _p is composed by {_x, _y, _z} of the previous definition 
    */
    void setP(const yarp::sig::Vector &_p);
 
    /* Set the homogeneous transformation among two frames */
    /*
    * @param _R is the rotation matrix with respect to another reference frame
    * @param _x, _y, _z are the position vector of one reference frame with respect 
    * to another 
    */
    void setH(const yarp::sig::Matrix &_R, double _x, double _y, double _z);
    /*
    * @param _R is the rotation matrix with respect to another reference frame
    * @param _p is composed by {_x, _y, _z} of the previous definition 
    */
    void setH(const yarp::sig::Matrix &_R, const yarp::sig::Vector &_p);
    /*
    * @param _H is the homogeneous transformation matrix among 2 FoR
    */
    void setH(const yarp::sig::Matrix &_H);
 
    /*set every variable (H, R, p, S, T) given H(4,4)
    * H is set as default or using previously a setH(...)
    */
    void setPRH(void);
    /*
    * @param _R is the rotation matrix with respect to another reference frame
    * @param _p is the distance vector among 2 FoR
    */
    void setPRH(const yarp::sig::Matrix &_R, const yarp::sig::Vector &_p);
    /*
    * @param _H is the homogeneous transformation matrix among 2 FoR
    */
    void setPRH(const yarp::sig::Matrix &_H);
 
    /* Set the FT datas */
    /*
    * @param _FT is the wrench to be transformed, in its native FoR
    */
    yarp::sig::Vector setFT(const yarp::sig::Vector &_FT);
 
    /* get the members defined above */
    yarp::sig::Vector getP(){return p;}
    yarp::sig::Matrix getR(){return R;}
    yarp::sig::Matrix getH(){return H;}
 
    /*return the Wrench set with setFT*/
    yarp::sig::Vector getFT(){return FT;}
    
    /* Destructor*/ 
    ~iGenericFrame(){};
};

 
class iFrameOnLink
{
private:
    int l;
    yarp::sig::Matrix H;
    yarp::sig::Vector FT;
 
    iGenericFrame   *Sensor;
    iGenericFrame   *Link;
    iKin::iKinChain *Limb;
 
    /*
    * initializes the iFrameOnLink members to zero. Used in the constructors.
    */
    void initSFrame();
 
protected:
 
    //set transformation variables of/ the sensor:
    void setSensorKin(int _l);
    void setSensorKin(const yarp::sig::Matrix &_H);
    void setSensorKin();
 
    void setFT(const yarp::sig::Vector &_FT);
public:
    // Default constructor:
    iFrameOnLink();
    /* Overloaded constructor:
    * @param _l defines the link on which the FT sensor is attached
    */
    iFrameOnLink(int _l);
    /*Destructor*/
    ~iFrameOnLink();
 
    void setLink(int _l);
    //Set sensor variables:
    /* @param _Rs is the rotation matrix of the sensor FoR with respect to the one of the link the sensor is attached to.*/
    void setRs(const yarp::sig::Matrix &_Rs){   Sensor->setR(_Rs);}
    /* @param _ps is the position vector of the sensor FoR with respect to the one of the link the sensor is attached to.*/
    void setPs(const yarp::sig::Vector &_ps){Sensor->setP(_ps);}
    /* @param _Hs is the homogeneous transformation matrix of the sensor FoR with respect to the one
    * of the link the sensor is attached to. */
    void setHs(const yarp::sig::Matrix &_Hs){Sensor->setH(_Hs);}
 
    //get sensor members, previously defined
    yarp::sig::Matrix getRs(){return Sensor->getR();}
    yarp::sig::Vector getPs(){return Sensor->getP();}
    yarp::sig::Matrix getHs(){return Sensor->getH();}
 
    //get Limb variables
    /* @param _Rl is the rotation matrix of the link FoR with respect to the base FoR*/
    yarp::sig::Matrix getRl(){return Link->getR();}
    /* @param _pl is the position vector of the sensor FoR with respect to the base FoR */
    yarp::sig::Vector getPl(){return Link->getP();}
    /* @param _Hl is the homogeneous transformation matrix of the sensor FoR with respect to the base FoR   */
    yarp::sig::Matrix getHl(){return Link->getH();} 
 
    //set transformation variables of the sensor, with respect to a base frame:
    yarp::sig::Matrix getH();
    
    void setSensor(int _l, const yarp::sig::Vector &_FT);
    void setSensor(const yarp::sig::Matrix &_H, const yarp::sig::Vector &_FT);
    void setSensor(const yarp::sig::Vector &_FT);
 
    // get FT variables with respect to a fixed reference frame
    yarp::sig::Vector getFT();
 
    void attach(iKin::iKinChain *_Limb);
    void attach(iGenericFrame *_Sensor);
};
 

class iFTransformation
{
private:
    int l;
    yarp::sig::Matrix Hs;
    yarp::sig::Vector Fs;
    yarp::sig::Matrix He;
    yarp::sig::Vector Fe;
    yarp::sig::Matrix Tse;
    yarp::sig::Matrix Teb;
 
    iFrameOnLink    *Sensor;
    iGenericFrame   *EndEffector;
    iGenericFrame   *SensorFrame;
    iKin::iKinChain *Limb;
 
    yarp::sig::Vector d;
    yarp::sig::Matrix S;
    yarp::sig::Matrix R;
 
    bool ownLimb;
 
    void initiFTransformation();
 
public:
    iFTransformation();
    iFTransformation(int _l);
    iFTransformation(iDyn::iDynInvSensor *_iDynChainWithSensor);
    ~iFTransformation();
 
    void attach(iKin::iKinChain *_Limb);
    void attach(iGenericFrame *_Sensor);
 
    void setLink(int _l);
 
    void setSensor(const yarp::sig::Vector &_FT);
    void setSensor(int _l, const yarp::sig::Vector &_FT);
    void setSensor(const yarp::sig::Matrix &_H, const yarp::sig::Vector &_FT);
 
    void setHe();
    void setHe(int _l);
    void setHe(const yarp::sig::Matrix &_H);
 
    void setTeb();
    void setTse();
    void setFe();
 
    yarp::sig::Vector getEndEffWrench();
    yarp::sig::Vector getEndEffWrenchAsBase();
    yarp::sig::Vector getEndEffWrench(const yarp::sig::Vector &_FT);
    yarp::sig::Vector getEndEffWrenchAsBase(const yarp::sig::Vector &_FT);
    yarp::sig::Matrix getHs(){return Hs;}
    yarp::sig::Matrix getHe(){return He;}
 
    
};
 
}
 
}//end namespace
 
#endif