Adding an abstract BarrettHandPositionCommandExecutor class

include/aikido/control/BarrettFingerKinematicSimulationPositionCommandExecutor.hpp

@@ -0,0 +1,129 @@
+#ifndef AIKIDO_CONTROL_BARRETFINGERKINEMATICSIMULATIONPOSITIONCOMMANDEXECUTOR_HPP_
+#define AIKIDO_CONTROL_BARRETFINGERKINEMATICSIMULATIONPOSITIONCOMMANDEXECUTOR_HPP_
+#include <aikido/control/PositionCommandExecutor.hpp>
+#include <dart/collision/CollisionDetector.hpp>
+#include <dart/collision/CollisionOption.hpp>
+#include <dart/collision/CollisionGroup.hpp>
+#include <dart/collision/CollisionFilter.hpp>
+#include <dart/dynamics/dynamics.hpp>
+#include <future>
+#include <mutex>
+#include <condition_variable>
+#include <chrono>
+
+namespace aikido {
+namespace control {
+
+/// This executor mimics the behavior of BarretFinger.
+/// It moves a finger to a desired point; it may stop early if
+/// joint limit is reached or collision is detected.
+/// Only the proximal joint is actuated; the distal joint moves with mimic ratio.
+/// When collision is detected on the distal link, the finger stops.
+/// When collision is detected on the proximal link, the distal link moves
+/// until it reaches joint limit or until distal collision is detected.
+class BarrettFingerKinematicSimulationPositionCommandExecutor
+: public PositionCommandExecutor
+{
+public:
+  /// Constructor.
+  /// \param[in] finger Finger to be controlled by this Executor.
+  /// \param[in] proximal Index of proximal dof
+  /// \param[in] distal Index of distal dof
+  /// \param[in] collisionDetector CollisionDetector to check collision with fingers.
+  ///        If nullptr, default to FCLCollisionDetector.
+  /// \param[in] collideWith CollisionGroup to check collision with fingers.
+  ///        If nullptr, default to empty CollisionGroup.
+  /// \param[in] collisionOptions Default is (enableContact=false, binaryCheck=true,
+  ///        maxNumContacts = 1.)
+  ///        See dart/collison/Option.h for more information
+  BarrettFingerKinematicSimulationPositionCommandExecutor(
+    ::dart::dynamics::ChainPtr finger, size_t proximal, size_t distal,
+    ::dart::collision::CollisionDetectorPtr collisionDetector = nullptr,
+    ::dart::collision::CollisionGroupPtr collideWith = nullptr,
+    ::dart::collision::CollisionOption collisionOptions
+      = ::dart::collision::CollisionOption(false, 1));
+
+  /// Open/close fingers to goal configuration.
+  /// Proximal dof moves to goalPosition, joint limit, or until collision.
+  /// Distal dof follows with mimic ratio.
+  /// Call step after this for actual execution until future returns.
+  /// \param goalPosition Desired angle of proximal joint.
+  /// \return future Becomes available when the execution completes.
+  std::future<void> execute(const Eigen::VectorXd& goalPosition) override;
+
+  /// Returns mimic ratio, i.e. how much the distal joint moves relative to
+  /// the proximal joint. The joint movements follow
+  /// this ratio only when both joints are moving.
+  /// \return mimic ratio.
+  constexpr static double getMimicRatio() { return kMimicRatio; }
+
+  /// Moves the joints of the finger by dofVelocity*timeSincePreviousCall
+  /// until execute's goalPosition by primary dof or collision is detected.
+  /// If proximal link is in collision, distal link moves until
+  /// mimicRatio*goalPosition. If distal link is in collision, execution stops.
+  /// If multiple threads are accessing this function or skeleton associated
+  /// with this executor, it is necessary to lock the skeleton before
+  /// calling this method.
+  void step() override;
+
+  /// Resets CollisionGroup to check collision with fingers.
+  /// \param _collideWith CollisionGroup to check collision with fingers.
+  /// \return false if fails to change collideWith (during execution).
+  bool setCollideWith(::dart::collision::CollisionGroupPtr collideWith);
+
+private:
+  constexpr static double kMimicRatio = 0.333;
+  // TODO: read velocity limit from herb_description
+  constexpr static double kProximalSpeed = 2.0;
+  constexpr static double kDistalSpeed = kProximalSpeed*kMimicRatio;
+
+  /// If (current dof - goalPosition) execution terminates.
+  constexpr static double kTolerance = 1e-3;
+
+  ::dart::dynamics::ChainPtr mFinger;
+
+  /// proximal, distal dofs
+  ::dart::dynamics::DegreeOfFreedom* mProximalDof;
+  ::dart::dynamics::DegreeOfFreedom* mDistalDof;
+
+  /// Joint limits for proximal and distal dof.
+  std::pair<double, double> mProximalLimits, mDistalLimits;
+
+  ::dart::collision::CollisionDetectorPtr mCollisionDetector;
+  ::dart::collision::CollisionGroupPtr mCollideWith;
+  ::dart::collision::CollisionOption mCollisionOptions;
+
+  ::dart::collision::CollisionGroupPtr mProximalCollisionGroup;
+  ::dart::collision::CollisionGroupPtr mDistalCollisionGroup;
+
+  std::unique_ptr<std::promise<void>> mPromise;
+
+  /// Flag for indicating execution of a command.
+  bool mInExecution;
+
+  /// Time that step was last called.
+  std::chrono::system_clock::time_point mTimeOfPreviousCall;
+
+  /// Control access to mPromise, mInExecution, mGoalPosition, mDistalOnly,
+  /// mCollideWith
+  std::mutex mMutex;
+
+  /// Desired end-position of proximal dof.
+  double mProximalGoalPosition;
+
+  /// Indicator that only distal finger is to be moved.
+  bool mDistalOnly;
+
+  /// Helper method for step() to set variables for terminating an execution.
+  void terminate();
+
+};
+
+using BarrettFingerKinematicSimulationPositionCommandExecutorPtr
+  = std::shared_ptr<BarrettFingerKinematicSimulationPositionCommandExecutor>;
+
+
+} // control
+} // aikido
+
+#endif

include/aikido/control/BarrettFingerKinematicSimulationSpreadCommandExecutor.hpp

@@ -0,0 +1,103 @@
+#ifndef AIKIDO_CONTROL_BARRETFINGERKINEMATICSIMULATIONSPREADCOMMANDEXECUTOR_HPP_
+#define AIKIDO_CONTROL_BARRETFINGERKINEMATICSIMULATIONSPREADCOMMANDEXECUTOR_HPP_
+#include <aikido/control/PositionCommandExecutor.hpp>
+#include <dart/collision/CollisionDetector.hpp>
+#include <dart/collision/CollisionOption.hpp>
+#include <dart/collision/CollisionGroup.hpp>
+#include <dart/collision/CollisionFilter.hpp>
+#include <dart/dynamics/dynamics.hpp>
+#include <future>
+#include <mutex>
+#include <condition_variable>
+#include <chrono>
+
+namespace aikido {
+namespace control {
+
+/// This executor mimics the spread behavior of BarretFinger.
+/// It moves two finger spreads simultaneously to certain goal value;
+/// it will stop prematurely if joint limit is reached or collision is detected.
+class BarrettFingerKinematicSimulationSpreadCommandExecutor
+: public PositionCommandExecutor
+{
+public:
+  /// Constructor.
+  /// \param[in] fingers 2 fingers to be controlled by this Executor.
+  /// \param[in] spread Index of spread dof
+  /// \param[in] collisionDetector CollisionDetector to check collision with fingers.
+  ///        If nullptr, default to FCLCollisionDetector.
+  /// \param[in] collideWith CollisionGroup to check collision with fingers.
+  ///        If nullptr, default to empty CollisionGroup
+  /// \param[in] collisionOptions Default is (enableContact=false, binaryCheck=true,
+  ///        maxNumContacts = 1.)
+  BarrettFingerKinematicSimulationSpreadCommandExecutor(
+    std::array<::dart::dynamics::ChainPtr, 2> fingers, size_t spread,
+    ::dart::collision::CollisionDetectorPtr collisionDetector = nullptr,
+    ::dart::collision::CollisionGroupPtr collideWith = nullptr,
+    ::dart::collision::CollisionOption collisionOptions
+      = ::dart::collision::CollisionOption(false, 1));
+
+  /// Move the spread joint by goalPosition until goalPosition or
+  /// joint limits are reached, or until collision is detected.
+  /// Call step after this for actual execution until future returns.
+  /// \param goalPosition Desired angle of spread joint.
+  /// \return future which becomes available when the execution completes.
+  std::future<void> execute(const Eigen::VectorXd& goalPosition) override;
+
+  /// Moves the joint of the finger by fixed speed*timeSincePreviousCall
+  /// until execute's goalPosition by spread dof or collision is detected.
+  /// If multiple threads are accessing this function or the skeleton associated
+  /// with this executor, it is necessary to lock the skeleton before
+  /// calling this method.
+  void step() override;
+
+  /// Resets CollisionGroup to check collision.
+  /// \param collideWith CollisionGroup to check collision with fingers.
+  /// \return false if fails to change collideWith (during execution).
+  bool setCollideWith(::dart::collision::CollisionGroupPtr collideWith);
+
+private:
+  constexpr static double kDofSpeed = 1;
+
+  /// If (current dof - goalPosition) execution terminates.
+  constexpr static double kTolerance = 1e-3;
+
+  /// All fingers dof values should be the same (approx. within this tolerance).
+  constexpr static double kDofTolerance = 1e-3;
+
+  constexpr static int kNumFingers = 2;
+
+  std::array<::dart::dynamics::ChainPtr, 2> mFingers;
+
+  std::vector<::dart::dynamics::DegreeOfFreedom*> mSpreadDofs;
+
+  std::pair<double, double> mDofLimits;
+
+  ::dart::collision::CollisionDetectorPtr mCollisionDetector;
+  ::dart::collision::CollisionGroupPtr mCollideWith;
+  ::dart::collision::CollisionOption mCollisionOptions;
+
+  ::dart::collision::CollisionGroupPtr mSpreadCollisionGroup;
+
+  std::unique_ptr<std::promise<void>> mPromise;
+
+  /// Controls access to mPromise, mInExecution, mGoalPosition, mCollideWith
+  std::mutex mMutex;
+
+  /// True if a command is in execution
+  bool mInExecution;
+
+  /// Time that step was last called.
+  std::chrono::system_clock::time_point mTimeOfPreviousCall;
+
+  /// Desired end spread value
+  double mGoalPosition;
+};
+
+using BarrettFingerKinematicSimulationSpreadCommandExecutorPtr 
+  = std::shared_ptr<BarrettFingerKinematicSimulationSpreadCommandExecutor>;
+
+} // control
+} // aikido
+
+#endif