ODEJoint.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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.
 *
*/
#ifndef _ODEJOINT_HH_
#define _ODEJOINT_HH_

#include <boost/any.hpp>
#include <string>

#include "gazebo/physics/ode/ODEPhysics.hh"
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE ODEJoint : public Joint
    {
      public:  enum CFMMode
      {
        NONE           = 0x00000000,
        DAMPING_ACTIVE = 0x00000001,
        JOINT_LIMIT    = 0x00000002
      };

      public: explicit ODEJoint(BasePtr _parent);

      public: virtual ~ODEJoint();

      // Documentation inherited.
      public: virtual void Load(sdf::ElementPtr _sdf) override;

      // Documentation inherited.
      public: virtual void Fini() override;

      // Documentation inherited.
      public: virtual void Reset() override;

      // Documentation inherited.
      public: virtual LinkPtr GetJointLink(unsigned int _index) const override;

      // Documentation inherited.
      public: virtual bool AreConnected(LinkPtr _one, LinkPtr _two) const
            override;

      // Documentation inherited.
      public: virtual void CacheForceTorque() override;

      public: virtual double GetParam(unsigned int _parameter) const;

      public: virtual void SetParam(unsigned int _parameter, double _value);

      // Documentation inherited
      public: virtual void SetDamping(unsigned int _index, double _damping)
            override;

      // Documentation inherited.
      public: virtual bool SetPosition(
                              const unsigned int _index,
                              const double _position,
                              const bool _preserveWorldVelocity = false)
            override;

      // Documentation inherited.
      public: virtual void SetStiffness(unsigned int _index,
                                        const double _stiffness) override;

      // Documentation inherited.
      public: virtual void SetStiffnessDamping(unsigned int _index,
        double _stiffness, double _damping, double _reference = 0) override;

      // Documentation inherited.
      public: virtual void Attach(LinkPtr _parent, LinkPtr _child) override;

      // Documentation inherited.
      public: virtual void Detach() override;

      public: void SetERP(double _erp);

      public: double GetERP();

      public: void SetCFM(double _cfm);

      public: double GetCFM();

      public: dJointFeedback *GetFeedback();

      public: bool UsesImplicitSpringDamper();

      public: void UseImplicitSpringDamper(const bool _implicit);

      public: void ApplyImplicitStiffnessDamping();

      public: void ApplyExplicitStiffnessDamping();

      public: double GetStopCFM()
      {
        return this->stopCFM;
      }

      public: double GetStopERP()
      {
        return this->stopERP;
      }

      private: double ApplyAdaptiveDamping(unsigned int _index,
                   const double _damping);

      private: void KpKdToCFMERP(const double _dt,
                                 const double _kp, const double _kd,
                                 double &_cfm, double &_erp);

      private: void CFMERPToKpKd(const double _dt,
                                 const double _cfm, const double _erp,
                                 double &_kp, double &_kd);

      private: int implicitDampingState[MAX_JOINT_AXIS];

      private: double currentKd[MAX_JOINT_AXIS];

      private: double currentKp[MAX_JOINT_AXIS];

      private: bool stiffnessDampingInitialized;

      private: bool useImplicitSpringDamper;

      // Documentation inherited.
      public: virtual void SetUpperLimit(const unsigned int _index,
                                         const double _limit) override;

      // Documentation inherited.
      public: virtual void SetLowerLimit(const unsigned int _index,
                                         const double _limit) override;

      // Documentation inherited.
      public: virtual ignition::math::Vector3d LinkForce(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual ignition::math::Vector3d LinkTorque(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual void SetAxis(const unsigned int _index,
                  const ignition::math::Vector3d &_axis) override;

      // Documentation inherited.
      public: virtual bool SetParam(const std::string &_key,
                                        unsigned int _index,
                                        const boost::any &_value) override;

      // Documentation inherited.
      public: virtual double GetParam(const std::string &_key,
                                                unsigned int _index) override;

      // Documentation inherited.
      public: virtual void SetProvideFeedback(bool _enable) override;

      // Documentation inherited.
      public: virtual JointWrench GetForceTorque(unsigned int _index) override;

      // Documentation inherited.
      public: virtual void SetForce(unsigned int _index, double _force)
            override;

      // Documentation inherited.
      public: virtual double GetForce(unsigned int _index) override;

      // Documentation inherited.
      public: virtual void ApplyStiffnessDamping() override;

      // Documentation inherited.
      protected: virtual void SetForceImpl(
                     unsigned int _index, double _force) = 0;

      private: void SaveForce(unsigned int _index, double _force);

      protected: dJointID jointId;

      private: dJointFeedback *feedback;

      private: double stopCFM;

      private: double stopERP;

      private: double forceApplied[MAX_JOINT_AXIS];

      private: common::Time forceAppliedTime;
    };
  }
}
#endif