RobotConverter.h

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/*
 * Copyright 2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Robot.h>
#include <mc_rbdyn/RobotConverterConfig.h>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI RobotConverter
{
  RobotConverter(const mc_rbdyn::Robot & inputRobot,
                 mc_rbdyn::Robot & outputRobot,
                 const RobotConverterConfig & config);
 
  void convert(const mc_rbdyn::Robot & inputRobot, mc_rbdyn::Robot & outputRobot) const;
 
  inline const RobotConverterConfig & config() const noexcept { return config_; }
 
protected:
  void precompute(const mc_rbdyn::Robot & inputRobot, const mc_rbdyn::Robot & outputRobot);
 
  void encodersToOutput(const mc_rbdyn::Robot & inputRobot, mc_rbdyn::Robot & outputRobot) const;
 
protected:
  RobotConverterConfig config_;
  // Common joint indices from inputRobot_ -> outputRobot_ robot
  std::vector<std::pair<unsigned int, unsigned int>> commonJointIndices_{};
  // Encoder indices from inputRobot_ -> outputRobot_ robot
  std::vector<std::pair<unsigned int, unsigned int>> commonEncoderToJointIndices_{};
  // Indices of joints with mimics from actuated joints in inputRobot_
  // to their mimic counterpart in outputRobot_
  std::vector<std::pair<unsigned int, unsigned int>> mimicJoints_{};
};
} // namespace mc_rbdyn