SControllerGc.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/*
 * \file SControllerGc.hpp
 *
 *  Created on: Dec 29, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef SCONTROLLERGC_HPP_
#define SCONTROLLERGC_HPP_

#include <vector>
#include <list>
#include <string>

#include <scl/control/data_structs/SControllerBase.hpp>


namespace scl
{

  class SControllerGc : public SControllerBase
  {
  public:
    Eigen::VectorXd des_force_gc_;

    Eigen::VectorXd des_q_;
    Eigen::VectorXd des_dq_;
    Eigen::VectorXd des_ddq_;

    Eigen::VectorXd force_gc_max_,force_gc_min_;

    Eigen::VectorXd kp_, kv_, ka_, ki_;

    sFloat integral_gain_time_pre_, integral_gain_time_curr_;

    Eigen::VectorXd integral_force_;

    /* ********************************************************
     *              Initialization Functions
     * ******************************************************** */
    SControllerGc();

    /* Initialization function. Sets all the control parameters */
    sBool init(const std::string & arg_controller_name,
        SRobotParsed* arg_robot_ds,
        SRobotIO* arg_robot_io_ds,
        /* The remaining variables initialize the gc controller */
        const Eigen::VectorXd & arg_kp,
        const Eigen::VectorXd & arg_kv,
        const Eigen::VectorXd & arg_ka,
        const Eigen::VectorXd & arg_ki,
        const Eigen::VectorXd & arg_fgc_max,
        const Eigen::VectorXd & arg_fgc_min);

  };
}

#endif /* SGCCONTROLLER_HPP_ */