cartesian_velocity_waypoint_motion.hpp

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#pragma once
 
#include <franka/robot_state.h>
 
#include <atomic>
#include <optional>
#include <ruckig/ruckig.hpp>
 
#include "franky/cartesian_state.hpp"
#include "franky/motion/velocity_waypoint_motion.hpp"
#include "franky/robot.hpp"
#include "franky/robot_pose.hpp"
#include "franky/util.hpp"
 
namespace franky {
 
class CartesianVelocityWaypointMotion : public VelocityWaypointMotion<franka::CartesianVelocities, RobotVelocity> {
 public:
  explicit CartesianVelocityWaypointMotion(
      const std::vector<VelocityWaypoint<RobotVelocity>> &waypoints,
      const RelativeDynamicsFactor &relative_dynamics_factor = 1.0, Affine ee_frame = Affine::Identity());
 
  [[nodiscard]] const Affine &ee_frame() const { return ee_frame_; }
 
 protected:
  void checkWaypoint(const VelocityWaypoint<RobotVelocity> &waypoint) const override;
 
  void initWaypointMotion(
      const RobotState &robot_state, const std::optional<franka::CartesianVelocities> &previous_command,
      ruckig::InputParameter<7> &input_parameter) override;
 
  void setNewWaypoint(
      const RobotState &robot_state, const std::optional<franka::CartesianVelocities> &previous_command,
      const VelocityWaypoint<RobotVelocity> &new_waypoint, ruckig::InputParameter<7> &input_parameter) override;
 
  [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getAbsoluteInputLimits() const override;
 
  [[nodiscard]] franka::CartesianVelocities getControlSignal(
      const RobotState &robot_state, const franka::Duration &time_step,
      const std::optional<franka::CartesianVelocities> &previous_command,
      const ruckig::InputParameter<7> &input_parameter) override;
 
  [[nodiscard]] std::tuple<Vector7d, Vector7d, Vector7d> getDesiredState(const RobotState &robot_state) const override;
 
 private:
  Affine ee_frame_;
  double last_elbow_pos_{};
  double last_elbow_vel_{};
 
  static Vector7d vec_cart_rot_elbow(double cart, double rot, double elbow) {
    return {cart, cart, cart, rot, rot, rot, elbow};
  }
};
 
}  // namespace franky