lmc_controller.h

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#ifndef LMC_CONTROLLER
#define LMC_CONTROLLER
#include <motion_control/lmc_robot_model.h>
#include <motion_control/lmc_joint.h>

#ifdef __cplusplus
extern "C"
{
#endif /* __cplusplus */

    typedef struct lmc_controller lmc_controller_t;

    typedef struct lmc_controller_cartesian_admittance_config
    {
        lmc_transform_t task_frame;       
        unsigned int selection_vector[6]; 
        lmc_wrench_t wrench;              
        unsigned int type;                
        double limits[6];                 
    } lmc_controller_cartesian_admittance_config_t;

    lmc_controller_t *lmc_controller_new();

    void lmc_controller_delete(lmc_controller_t **controller_addr);

    int lmc_controller_init(lmc_controller_t *const controller, lmc_robot_model_t const *const robot_model,
                            double const cycle_time);

    int lmc_controller_gravity_compensate(lmc_controller_t *const controller, lmc_joint_state_t const *const in_joint_state,
                                          double *const out_joint_torque_cmd);

    int lmc_controller_computed_torque(lmc_controller_t *const controller,
                                       lmc_joint_state_t const *const in_joint_state, lmc_joint_cmd_t const *const in_joint_cmd,
                                       double *const out_torque, double *const out_inertia);

    int lmc_controller_computed_torque_set_param(lmc_controller_t *const controller, const double *kp, const double *kv);

    void lmc_controller_cartesian_admittance_config(lmc_controller_t *const controller, lmc_joint_cmd_t const *const joint_cmd, lmc_controller_cartesian_admittance_config_t const *const config);

    void lmc_controller_cartesian_admittance_set_task_frame(lmc_controller_t *const controller, lmc_transform_t const *const task_frame);

    void lmc_controller_cartesian_admittance_set_offset_limit(lmc_controller_t *const controller, lmc_twist_t const *const minus, lmc_twist_t const *const plus);


    int lmc_controller_cartesian_admittance_update(lmc_controller_t *const controller, lmc_joint_cmd_t const *const in_joint_cmd, lmc_joint_state_t const *const in_joint_state, lmc_wrench_t const * const in_external_force, double * const out_joint_pos_offset);

    void lmc_controller_cartesian_admittance_request_end(lmc_controller_t *const controller);

    int lmc_controller_cartesian_admittance_activated(lmc_controller_t *const controller);

    void lmc_controller_cartesian_admittance_set_damping(lmc_controller_t *const controller, double d);

    void lmc_controller_cartesian_admittance_set_mass(lmc_controller_t *const controller, double mass);

    void lmc_controller_cartesian_admittance_set_force_threshold(lmc_controller_t *const controller, double threshold);
    void lmc_controller_cartesian_admittance_set_torque_threshold(lmc_controller_t *const controller, double threshold);

    void lmc_controller_cartesian_admittance_set_dexterity(lmc_controller_t *const controller, size_t n);

    void lmc_controller_cartesian_admittance_cleanup(lmc_controller_t *const controller);


#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_CONTROLLER */