EncoderObserver.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_observers/Observer.h>
#include <mc_observers/api.h>
#include <mc_rbdyn/Robot.h>
 
namespace mc_observers
{
struct MC_OBSERVER_DLLAPI EncoderObserver : public Observer
{
  EncoderObserver(const std::string & type, double dt) : Observer(type, dt) {}
 
  void configure(const mc_control::MCController & ctl, const mc_rtc::Configuration & config) override;
 
  void reset(const mc_control::MCController & ctl) override;
 
  bool run(const mc_control::MCController & ctl) override;
 
  void update(mc_control::MCController & ctl) override;
 
protected:
  void addToLogger(const mc_control::MCController &, mc_rtc::Logger &, const std::string &) override;
 
protected:
  enum class PosUpdate
  {
    Control, 
    EncoderValues, 
    None 
  };
  enum class VelUpdate
  {
    Control, 
    EncoderVelocities, 
    EncoderFiniteDifferences, 
    None 
  };
  enum class TorqueUpdate
  {
    Control, 
    JointTorques, 
    None 
  };
 
  PosUpdate posUpdate_ = PosUpdate::EncoderValues;
  VelUpdate velUpdate_ = VelUpdate::EncoderFiniteDifferences;
  TorqueUpdate torqueUpdate_ = TorqueUpdate::JointTorques;
  bool computeFK_ = true; 
  bool computeFV_ = true; 
 
  bool initialized_ = false; 
 
  std::string robot_ = ""; 
  std::string updateRobot_ = ""; 
 
  std::vector<double> prevEncoders_; 
  std::vector<double> encodersVelocity_; 
 
  bool logPosition_ = false;
  bool logVelocity_ = true;
  bool logTorque_ = false;
};
 
} // namespace mc_observers