openarm_teleop/src/joint_state_converter.hpp

// Copyright 2025 Enactic, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <vector>
#include <robot_state.hpp>

// Represents the state of a single joint
// struct JointState {
//     double position = 0.0;
//     double velocity = 0.0;
//     double effort   = 0.0;
// };

// Represents the state of a single motor (raw values)
struct MotorState {
    double position = 0.0;
    double velocity = 0.0;
    double effort   = 0.0;
};

// Abstract base class for converting between motor and joint states
class MotorJointConverter {
public:
    virtual ~MotorJointConverter() = default;

    // MotorState vector → JointState vector
    virtual std::vector<JointState> motor_to_joint(const std::vector<MotorState>& motor_states) const = 0;

    // JointState vector → MotorState vector
    virtual std::vector<MotorState> joint_to_motor(const std::vector<JointState>& joint_states) const = 0;

    virtual size_t get_joint_count() const = 0;
};

// assume motor num equals to joint num
class OpenArmJointConverter : public MotorJointConverter {
    public:
        explicit OpenArmJointConverter(size_t joint_count) : joint_count_(joint_count) {
            std::cout << "OpenArm joint converter joinit_count is : " << joint_count << std::endl;
        }
    
        std::vector<JointState> motor_to_joint(const std::vector<MotorState>& m) const override {
            // std::cout << "joint num conv : " << m.size() << std::endl;

            std::vector<JointState> j(m.size());
            for (size_t i = 0; i < m.size(); ++i){
                j[i] = {m[i].position, m[i].velocity, m[i].effort};

            }
                
            return j;
        }
    
        std::vector<MotorState> joint_to_motor(const std::vector<JointState>& j) const override {
            std::vector<MotorState> m(j.size());
            for (size_t i = 0; i < j.size(); ++i)
                m[i] = {j[i].position, j[i].velocity, j[i].effort};
            return m;
        }
    
        size_t get_joint_count() const override { return joint_count_; }
    
    private:
        size_t joint_count_;
    };
    
    // assume motor num equals to joint num
    class OpenArmJGripperJointConverter : public MotorJointConverter {
        public:
            explicit OpenArmJGripperJointConverter(size_t joint_count) : joint_count_(joint_count) {
                std::cout << "Gripper joint converter joint_count is : " << joint_count << std::endl;
            }
        
            std::vector<JointState> motor_to_joint(const std::vector<MotorState>& m) const override {
                std::vector<JointState> j(m.size());
                for (size_t i = 0; i < m.size(); ++i) {
                    j[i] = {m[i].position, m[i].velocity, m[i].effort};
                }
                return j;
            }
        
            std::vector<MotorState> joint_to_motor(const std::vector<JointState>& j) const override {
                std::vector<MotorState> m(j.size());
                for (size_t i = 0; i < j.size(); ++i) {
                    m[i] = {j[i].position, j[i].velocity, j[i].effort};
                }
                return m;
            }
        
            size_t get_joint_count() const override { return joint_count_; }
        
        private:
            size_t joint_count_;
        };