Adapt to recent changes in wbc_lib

ARC-OPT · Feb 23, 2024 · a209ece · a209ece
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commit a209ece
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Showing 18 changed files with 33 additions and 33 deletions.
diff --git a/ctrl_lib.orogen b/ctrl_lib.orogen
@@ -30,8 +30,8 @@ task_context "ControllerTask" do
    # Unique name for each variable, e.g. joint names in case of a joint space controller.
    property("field_names", "std/vector<std/string>")
 
-   # Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
-   property("activation_function", "ctrl_lib/ActivationFunction")
+   # Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
+   property("activation_function", "wbc/ActivationFunction")
 
    # Current activation values
    output_port("activation", "base/VectorXd")
@@ -179,7 +179,7 @@ end
 
 #
 # Implementation of RadialPotentialFields in joint space. Each joint will have one 1-dimensional potential field.
-# See ctrl_lib/RadialPotentialField.hpp and ctrl_lib/JointPotentialFieldsController.hpp for details
+# See wbc/controllers/RadialPotentialField.hpp and wbc/controllers/JointPotentialFieldsController.hpp for details
 #
 task_context "JointLimitAvoidance", subclasses: "ControllerTask" do
    needs_configuration
@@ -206,15 +206,15 @@ task_context "JointLimitAvoidance", subclasses: "ControllerTask" do
 
    # Debug ports
    output_port("current_feedback", "base/samples/Joints")
-   output_port("field_infos", "std/vector<ctrl_lib/PotentialFieldInfo>")
+   output_port("field_infos", "std/vector<wbc/PotentialFieldInfo>")
    output_port("current_joint_limits", "base/JointLimits")
 
    periodic 0.001
 end
 
 #
-# Implementation of RadialPotentialFields in Cartesian space. Dimension of all fields has to be 3! See ctrl_lib/RadialPotentialField.hpp and
-# ctrl_lib/PotentialFieldsController.hpp for details
+# Implementation of RadialPotentialFields in Cartesian space. Dimension of all fields has to be 3! See wbc/controllers/RadialPotentialField.hpp 
+# and wbc/controllers/PotentialFieldsController.hpp for details
 #
 task_context "CartesianRadialPotentialFields", subclasses: "ControllerTask" do
    needs_configuration
@@ -240,7 +240,7 @@ task_context "CartesianRadialPotentialFields", subclasses: "ControllerTask" do
 
    # Debug ports:
    output_port("current_feedback", "base/samples/RigidBodyStateSE3")
-   output_port("field_infos", "std/vector<ctrl_lib/PotentialFieldInfo>")
+   output_port("field_infos", "std/vector<wbc/PotentialFieldInfo>")
    output_port("euclidean_distance", "base/VectorXd")
 
    periodic 0.001
@@ -253,7 +253,7 @@ task_context "JointTorqueController", subclasses: "ControllerTask" do
    needs_configuration
 
    # PID gains. Size has to be the same as size of field_names.
-   property("pid_params", "ctrl_lib/PIDCtrlParams")
+   property("pid_params", "wbc/PIDCtrlParams")
 
    # Maximum control output (saturation). If one output value exceeds maximum, all
    # other values will be scaled accordingly. Size has to be the same as size of field_names.
@@ -280,7 +280,7 @@ task_context "JointTorqueController", subclasses: "ControllerTask" do
 end
 
 typekit do
-   export_types "ctrl_lib/ActivationFunction"
-   export_types "std/vector<ctrl_lib/PotentialFieldInfo>"
-   export_types "ctrl_lib/PotentialFieldInfo"
+   export_types "wbc/ActivationFunction"
+   export_types "std/vector<wbc/PotentialFieldInfo>"
+   export_types "wbc/PotentialFieldInfo"
 end
diff --git a/tasks/CartesianForceController.cpp b/tasks/CartesianForceController.cpp
@@ -18,7 +18,7 @@ bool CartesianForceController::configureHook(){
     if (! CartesianForceControllerBase::configureHook())
         return false;
 
-    controller = new CartesianForcePIDController();
+    controller = new wbc::CartesianForcePIDController();
     PIDCtrlParams params(controller->getDimension());
     params.p_gain = _p_gain.get();
     params.i_gain.setZero();

diff --git a/tasks/CartesianForceController.hpp b/tasks/CartesianForceController.hpp
@@ -12,7 +12,7 @@ namespace ctrl_lib{
 
 class CartesianForcePIDController;
 
-/*! \class CartesianForceController Implementation of a force controller in Cartesian space. See ctrl_lib/ProportionalController.hpp for details*/
+/*! \class CartesianForceController Implementation of a force controller in Cartesian space. See wbc/controllers/ProportionalController.hpp for details*/
 class CartesianForceController : public CartesianForceControllerBase
 {
     friend class CartesianForceControllerBase;
@@ -56,7 +56,7 @@ class CartesianForceController : public CartesianForceControllerBase
     std::string ft_sensor_name;
     base::VectorXd setpoint_raw, feedback_raw, ctrl_output_raw;
     base::samples::RigidBodyStateSE3 control_output;
-    CartesianForcePIDController* controller;
+    wbc::CartesianForcePIDController* controller;
 
 };
 }

diff --git a/tasks/CartesianPositionController.cpp b/tasks/CartesianPositionController.cpp
@@ -18,7 +18,7 @@ bool CartesianPositionController::configureHook(){
     if (! CartesianPositionControllerBase::configureHook())
         return false;
 
-    controller = new CartesianPosPDController();
+    controller = new wbc::CartesianPosPDController();
     controller->setPGain(_p_gain.get());
     controller->setDGain(_d_gain.get());
     controller->setFFGain(_ff_gain.get());

diff --git a/tasks/CartesianPositionController.hpp b/tasks/CartesianPositionController.hpp
@@ -37,7 +37,7 @@ class CartesianPositionController : public CartesianPositionControllerBase
     virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
 
     base::samples::RigidBodyStateSE3 setpoint, control_output, feedback;
-    CartesianPosPDController* controller;
+    wbc::CartesianPosPDController* controller;
 };
 }
 

diff --git a/tasks/CartesianRadialPotentialFields.cpp b/tasks/CartesianRadialPotentialFields.cpp
@@ -19,7 +19,7 @@ bool CartesianRadialPotentialFields::configureHook(){
     if(!CartesianRadialPotentialFieldsBase::configureHook())
         return false;
 
-    controller = new CartesianPotentialFieldsController();
+    controller = new wbc::CartesianPotentialFieldsController();
     controller->setPGain(_p_gain.get());
     controller->setMaxControlOutput(_max_control_output.get());
     influence_distance = _influence_distance.get();

diff --git a/tasks/CartesianRadialPotentialFields.hpp b/tasks/CartesianRadialPotentialFields.hpp
@@ -10,8 +10,8 @@ namespace ctrl_lib {
 
 class PotentialFieldsController;
 
-/*! \class CartesianRadialPotentialFields Implementation of RadialPotentialFields in Cartesian space. Dimension of all fields has to be 3! See ctrl_lib/RadialPotentialField.hpp and
-ctrl_lib/PotentialFieldsController.hpp for details  */
+/*! \class CartesianRadialPotentialFields Implementation of RadialPotentialFields in Cartesian space. Dimension of all fields has to be 3! See wbc/controllers/RadialPotentialField.hpp and
+wbc/controllers/PotentialFieldsController.hpp for details  */
 class CartesianRadialPotentialFields : public CartesianRadialPotentialFieldsBase
 {
     friend class CartesianRadialPotentialFieldsBase;
@@ -40,7 +40,7 @@ class CartesianRadialPotentialFields : public CartesianRadialPotentialFieldsBase
     double influence_distance;
     base::samples::RigidBodyStateSE3 control_output, feedback;
     std::vector<base::samples::RigidBodyState> pot_field_centers;
-    PotentialFieldsController* controller;
+    wbc::PotentialFieldsController* controller;
     std::vector<PotentialFieldInfo> field_infos;
 };
 }

diff --git a/tasks/JointLimitAvoidance.cpp b/tasks/JointLimitAvoidance.cpp
@@ -22,7 +22,7 @@ bool JointLimitAvoidance::configureHook(){
 
     joint_limits = _joint_limits.get();
     joint_limits.names = field_names;
-    controller = new JointLimitAvoidanceController(joint_limits, _influence_distance.get());
+    controller = new wbc::JointLimitAvoidanceController(joint_limits, _influence_distance.get());
     controller->setPGain(_p_gain.get());
     controller->setMaxControlOutput(_max_control_output.get());
 

diff --git a/tasks/JointLimitAvoidance.hpp b/tasks/JointLimitAvoidance.hpp
@@ -11,7 +11,7 @@ namespace ctrl_lib{
 class JointLimitAvoidanceController;
 
 /*! \class JointLimitAvoidance Implementation of RadialPotentialFields in joint space. Each joint will have one 1-dimensional potential field.
-See ctrl_lib/RadialPotentialField.hpp and ctrl_lib/PotentialFieldsController.hpp for details */
+See wbc/controllers/RadialPotentialField.hpp and wbc/controllers/PotentialFieldsController.hpp for details */
 class JointLimitAvoidance : public JointLimitAvoidanceBase
 {
     friend class JointLimitAvoidanceBase;
@@ -42,7 +42,7 @@ class JointLimitAvoidance : public JointLimitAvoidanceBase
     base::VectorXd position_raw;
     base::commands::Joints control_output;
     base::VectorXd influence_distance;
-    JointLimitAvoidanceController* controller;
+    wbc::JointLimitAvoidanceController* controller;
 };
 }
 

diff --git a/tasks/JointPositionController.cpp b/tasks/JointPositionController.cpp
@@ -18,7 +18,7 @@ bool JointPositionController::configureHook(){
     if (! JointPositionControllerBase::configureHook())
         return false;
 
-    controller = new JointPosPDController(_field_names.get());
+    controller = new wbc::JointPosPDController(_field_names.get());
     controller->setPGain(_p_gain.get());
     controller->setDGain(_d_gain.get());
     controller->setFFGain(_ff_gain.get());

diff --git a/tasks/JointPositionController.hpp b/tasks/JointPositionController.hpp
@@ -10,7 +10,7 @@ namespace ctrl_lib {
 
 class JointPosPDController;
 
-/*! \class JointPositionController Implementation of PositionControlFeedForward in joint space. See ctrl_lib/PositionControlFeedForward.hpp for details*/
+/*! \class JointPositionController Implementation of PositionControlFeedForward in joint space. See wbc/controllers/PositionControlFeedForward.hpp for details*/
 class JointPositionController : public JointPositionControllerBase
 {
     friend class JointPositionControllerBase;
@@ -37,7 +37,7 @@ class JointPositionController : public JointPositionControllerBase
     virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
 
     base::commands::Joints setpoint, control_output, feedback;
-    JointPosPDController* controller;
+    wbc::JointPosPDController* controller;
 };
 }
 

diff --git a/tasks/JointTorqueController.cpp b/tasks/JointTorqueController.cpp
@@ -18,7 +18,7 @@ bool JointTorqueController::configureHook(){
     if (! JointTorqueControllerBase::configureHook())
         return false;
 
-    controller = new JointTorquePIDController(_field_names.get());
+    controller = new wbc::JointTorquePIDController(_field_names.get());
     controller->setPID(_pid_params.get());
     controller->setMaxCtrlOutput(_max_control_output.get());
     controller->setDeadZone(_dead_zone.get());

diff --git a/tasks/JointTorqueController.hpp b/tasks/JointTorqueController.hpp
@@ -37,7 +37,7 @@ class JointTorqueController : public JointTorqueControllerBase
     virtual const base::VectorXd& computeActivation(ActivationFunction& activation_function);
 
     base::commands::Joints setpoint, control_output, feedback;
-    JointTorquePIDController* controller;
+    wbc::JointTorquePIDController* controller;
 
 };
 }

diff --git a/test/config/ctrl_lib::CartesianForceController.yml b/test/config/ctrl_lib::CartesianForceController.yml
@@ -1,5 +1,5 @@
 --- name:default
-# Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
+# Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
 activation_function:
   threshold: 0.0
   type: :NO_ACTIVATION

diff --git a/test/config/ctrl_lib::CartesianPositionController.yml b/test/config/ctrl_lib::CartesianPositionController.yml
@@ -1,5 +1,5 @@
 --- name:default
-# Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
+# Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
 activation_function:
   threshold: 0.0
   type: :NO_ACTIVATION

diff --git a/test/config/ctrl_lib::CartesianRadialPotentialFields.yml b/test/config/ctrl_lib::CartesianRadialPotentialFields.yml
@@ -1,5 +1,5 @@
 --- name:default
-# Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
+# Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
 activation_function:
   threshold: 0.0
   type: :NO_ACTIVATION

diff --git a/test/config/ctrl_lib::JointLimitAvoidance.yml b/test/config/ctrl_lib::JointLimitAvoidance.yml
@@ -1,5 +1,5 @@
 --- name:default
-# Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
+# Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
 activation_function:
   threshold: 0.5
   type: :LINEAR_ACTIVATION

diff --git a/test/config/ctrl_lib::JointPositionController.yml b/test/config/ctrl_lib::JointPositionController.yml
@@ -1,5 +1,5 @@
 --- name:default
-# Type of activation function used. See ctrl_lib/ActivationFunction.hpp for details.
+# Type of activation function used. See wbc/controllers/ActivationFunction.hpp for details.
 activation_function:
   threshold: 0.0
   type: :NO_ACTIVATION