VelocityImpedance.hpp

#pragma once
 
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include "controllers/impedance/Impedance.hpp"
 
namespace controllers::impedance {
template<class S>
class VelocityImpedance : public Impedance<S> {
public:
 
  explicit VelocityImpedance(unsigned int dimensions = 6);
 
  explicit VelocityImpedance(
      const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters,
      unsigned int dimensions = 6
  );
 
  S compute_command(const S& desired_state, const S& feedback_state) override;
};
 
template<class S>
VelocityImpedance<S>::VelocityImpedance(unsigned int dimensions) : Impedance<S>(dimensions) {
  this->parameters_.erase("inertia");
  this->inertia_->set_value(Eigen::MatrixXd::Zero(dimensions, dimensions));
}
 
template<class S>
VelocityImpedance<S>::VelocityImpedance(
    const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters, unsigned int dimensions
) :
    VelocityImpedance<S>(dimensions) {
  this->set_parameters(parameters);
}
 
}// namespace controllers