Update the interface of the ContactModel library accordingly to 01d406c

src/ContactModels/CMakeLists.txt

@@ -6,10 +6,10 @@
 if(BIPEDAL_LOCOMOTION_CONTROLLERS_COMPILE_ContactModels)
 
  add_bipedal_component(
- NAME ContactModels
- SOURCES src/ContactModel.cpp src/ContinuousContactModel.cpp
- PUBLIC_HEADERS   include/BipedalLocomotionControllers/ContactModels/ContactModel.h include/BipedalLocomotionControllers/ContactModels/ContactModel.tpp include/BipedalLocomotionControllers/ContactModels/ContinuousContactModel.h
- PUBLIC_LINK_LIBRARIES ${iDynTree_LIBRARIES}
- SUBDIRECTORIES tests)
+  NAME ContactModels
+  SOURCES src/ContactModel.cpp src/ContinuousContactModel.cpp
+  PUBLIC_HEADERS include/BipedalLocomotionControllers/ContactModels/ContactModel.h include/BipedalLocomotionControllers/ContactModels/ContinuousContactModel.h
+  PUBLIC_LINK_LIBRARIES iDynTree::idyntree-core BipedalLocomotionControllers::ParametersHandler
+  SUBDIRECTORIES tests)
 
 endif()

src/ContactModels/include/BipedalLocomotionControllers/ContactModels/ContactModel.h

@@ -9,13 +9,18 @@
 #define BIPEDAL_LOCOMOTION_CONTROLLERS_CONTACT_MODELS_CONTACT_MODEL_H
 
 #include <any>
-#include <unordered_map>
+#include <memory>
 #include <string>
+#include <unordered_map>
 
 #include <iDynTree/Core/MatrixFixSize.h>
+#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Core/Twist.h>
 #include <iDynTree/Core/VectorFixSize.h>
 #include <iDynTree/Core/Wrench.h>
 
+#include <BipedalLocomotionControllers/ParametersHandler/IParametersHandler.h>
+
 namespace BipedalLocomotionControllers
 {
 namespace ContactModels
@@ -58,25 +63,20 @@ class ContactModel
  */
  virtual void computeControlMatrix() = 0;
 
- /**
- * Get variable from a set of variables
- * @param variables map containing variables
- * @param variableName name of the variable
- * @param variable variable
- * @return true/false in case of success/failure
- */
- template <class T>
- bool getVariable(const std::unordered_map<std::string, std::any>& variables,
- const std::string& variableName,
- T& variable);
 
+public:
  /**
- * Set the immutable parameters
- * @retun true/false in case of success/failure
+ * Initialization of the class. Please call this method before evaluating any other function
+ * @param handler std::weak_ptr to a parameter container. This class does not have the ownership
+ * of the container.
+ * @warning std::weak_ptr models temporary ownership: when the handler is accessed only if it
+ * exists, the std::weak_ptr is converted in a std::shared_ptr.
+ * @note the required parameters may depends on the particular implementation. An example
+ * can be found in BipedalLocomotionControllers::ContactModel::ContinuousContactmodel::initialize
+ * @return true/false in case of success/failure
  */
- virtual bool setImmutableParameters(const std::unordered_map<std::string, std::any>& parameters) = 0;
+ virtual bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) = 0;
 
-public:
  /**
  * Get and compute (only if it is necessary) the contact wrench
  * @return the contact wrench expressed in mixed representation
@@ -96,21 +96,17 @@ class ContactModel
  const iDynTree::Matrix6x6& getControlMatrix();
 
  /**
- * Set the internal state of the model
+ * Set the internal state of the model.
+ * @note the meaning of the parameters may depend on the particular implementation. An example
+ * can be found in BipedalLocomotionControllers::ContactModel::ContinuousContactmodel::setState
  * @retun true/false in case of success/failure
  */
- virtual bool setState(const std::unordered_map<std::string, std::any>& state) = 0;
+ virtual void setState(const iDynTree::Twist& twist,
+ const iDynTree::Transform& transform,
+ const iDynTree::Transform& nullForceTransform) = 0;
 
- /**
- * Set the mutable parameters
- * @retun true/false in case of success/failure
- */
- virtual bool setMutableParameters(const std::unordered_map<std::string, std::any>& parameters) = 0;
 };
 } // namespace ContactModels
 } // namespace BipedalLocomotionControllers
 
-
-#include "ContactModel.tpp"
-
 #endif // BIPEDAL_LOCOMOTION_CONTROLLERS_CONTACT_MODELS_CONTACT_MODEL_H

src/ContactModels/include/BipedalLocomotionControllers/ContactModels/ContinuousContactModel.h

@@ -13,6 +13,7 @@
 #include <iDynTree/Core/Wrench.h>
 
 #include <BipedalLocomotionControllers/ContactModels/ContactModel.h>
+#include <BipedalLocomotionControllers/ParametersHandler/IParametersHandler.h>
 
 namespace BipedalLocomotionControllers
 {
@@ -34,18 +35,21 @@ namespace ContactModels
  */
 class ContinuousContactModel final : public ContactModel
 {
- iDynTree::Transform m_frameTransform; /**< Homogeneous transformation of the frame placed in the
- center of the contact surface */
- iDynTree::Transform m_nullForceTransform; /**< Homogeneous transformation corresponding to a
- null contact wrench */
- iDynTree::Twist m_twist; /**< Twist expressed in mixed representation of the frame placed in the
- center of the contact surface */
+ /** Homogeneous transformation of the frame placed in the center of the contact surface */
+ iDynTree::Transform m_frameTransform{iDynTree::Transform::Identity()};
 
- double m_springCoeff; /**< Spring coefficient associated to the model */
- double m_damperCoeff; /**< Damper coefficient associated to the model */
+ /** Homogeneous transformation corresponding to a null contact wrench */
+ iDynTree::Transform m_nullForceTransform{iDynTree::Transform::Identity()};
 
- double m_length; /**< Length of the rectangular contact surface */
- double m_width; /**< Width of the rectangular contact surface */
+ /** Twist expressed in mixed representation of the frame placed in the center of the contact
+ * surface */
+ iDynTree::Twist m_twist{iDynTree::Twist::Zero()};
+
+ double m_springCoeff{0.0}; /**< Spring coefficient associated to the model */
+ double m_damperCoeff{0.0}; /**< Damper coefficient associated to the model */
+
+ double m_length{0.0}; /**< Length of the rectangular contact surface */
+ double m_width{0.0}; /**< Width of the rectangular contact surface */
 
  /**
  * Evaluate the contact wrench given a specific contact model
@@ -62,62 +66,36 @@ class ContinuousContactModel final : public ContactModel
  */
  void computeControlMatrix() final;
 
- /**
- * Set the parameters that cannot change
- * @param state std::unordered_map containing the mutable parameters of the system. To compute the contact
- * wrench between two systems (i.e. a link of a robot and the environment) the following data have
- * to be available. If not an std::runtime_error is thrown.
- * - \a length (double): length in meters associated to the model
- * - \a width (double): width in meters associated to the model
- * @retun true/false in case of success/failure
- */
- bool setImmutableParameters(const std::unordered_map<std::string, std::any>& parameters) final;
-
 public:
 
  /**
- * Constructor. It instantiates the value of the mutable parameters and the immutable parameters.
- * @param immutableParameters std::unordered_map containing the immutable parameters of the
- * system. The list of the required parameters could be found in @ref
- * BipedalLocomotionController::ContactModels::setImmutableparameters
- * @param mutableParameters std::unordered_map containing the mutable parameters of the
- * system. The list of the required parameters could be found in @ref
- * BipedalLocomotionController::ContactModels::setMutableparameters
+ * Constructor
  */
- ContinuousContactModel(const std::unordered_map<std::string, std::any>& immutableParameters,
- const std::unordered_map<std::string, std::any>& mutableParameters);
+ ContinuousContactModel();
 
  /**
- * Constructor. It instantiate the value of the mutable parameters and the immutable parameters.
- * @param parameters std::unordered_map containing the immutable and mutable parameters of the
- * system. The list of the required parameters could be found in @ref
- * BipedalLocomotionController::ContactModels::setMutableparameters
+ * Initialization of the class. Please call this method before evaluating any other function
+ * @param handler std::weak_ptr to a parameter container. This class does not have the ownership
+ * of the container.
+ * @note The following parameters are required.
+ * - \a length (double): length in meters associated to the model
+ * - \a width (double): width in meters associated to the model
+ * - \a spring_coeff (double): spring coefficient associated to the model
+ * - \a damper_coeff (double): damper coefficient associated to the model
+ * @return true/false in case of success/failure
  */
- ContinuousContactModel(const std::unordered_map<std::string, std::any>& parameters);
-
+ bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) final;
 
  /**
  * Set the internal state of the model.
- * @param state std::unordered_map containing the state of the system. To compute the contact
- * wrench between two systems (i.e. a link of a robot and the environment) the following data have
- * to be available. If not an std::runtime_error is thrown.
- * - \a frame_transform (iDynTree::Transform): transformation between the link and the inertial frame;
- * - \a null_force_transform (iDynTree::Transform): transformation corresponding to a null force;
- * - \a twist (iDynTree::Twist): twist (expressed in mixed representation) of the link
- * @retun true/false in case of success/failure
- */
- bool setState(const std::unordered_map<std::string, std::any>& state) final;
-
- /**
- * Set the parameters that may depend on time/state (i.e. they are not considered constant)
- * @param state std::unordered_map containing the mutable parameters of the system. To compute the contact
- * wrench between two systems (i.e. a link of a robot and the environment) the following data have
- * to be available. If not an std::runtime_error is thrown.
- * - \a spring_coeff (double): spring coefficient associated to the model
- * - \a damper_coeff (double): damper coefficient associated to the model
- * @retun true/false in case of success/failure
+ * @param twist spatial velocity (expressed in mixed representation) of the link
+ * @param transform transformation between the link and the inertial frame
+ * @param nullForceTransform transformation corresponding to a null force expressed w.r.t. the
+ * inertial frame
  */
- bool setMutableParameters(const std::unordered_map<std::string, std::any>& parameters) final;
+ void setState(const iDynTree::Twist& twist,
+ const iDynTree::Transform& transform,
+ const iDynTree::Transform& nullForceTransform) final;
 
  /**
  * Compute the contact force applied by the environment on the system in a particular point of