Echo contact (#1)

* added cartesian interface

* general fix and optimization

include/generator/motion_generator.h

@@ -0,0 +1,77 @@
+// Copyright (c) 2017 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
+#pragma once
+
+#include <array>
+
+#include <Eigen/Core>
+#include <Eigen/Dense>
+#include <franka/control_types.h>
+#include <franka/duration.h>
+#include <franka/robot.h>
+#include <franka/robot_state.h>
+
+/**
+ * @file examples_common.h
+ * Contains common types and functions for the examples.
+ */
+
+/**
+ * Sets a default collision behavior, joint impedance and Cartesian impedance.
+ *
+ * @param[in] robot Robot instance to set behavior on.
+ */
+void setDefaultBehavior(franka::Robot& robot);
+
+/**
+ * An example showing how to generate a joint pose motion to a goal position. Adapted from:
+ * Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots
+ * (Kogan Page Science Paper edition).
+ */
+class MotionGenerator {
+public:
+    /**
+   * Creates a new MotionGenerator instance for a target q.
+   *
+   * @param[in] speed_factor General speed factor in range [0, 1].
+   * @param[in] q_goal Target joint positions.
+   */
+    MotionGenerator(const double &speed_factor, const Eigen::VectorXd &q_goal);
+
+    /**
+   * Sends joint position calculations
+   *
+   * @param[in] robot_state Current state of the robot.
+   * @param[in] period Duration of execution.
+   *
+   * @return Joint positions for use inside a control loop.
+   */
+    franka::JointPositions operator()(const franka::RobotState& robot_state, franka::Duration period);
+
+private:
+    using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
+    using Vector7i = Eigen::Matrix<int, 7, 1, Eigen::ColMajor>;
+
+    void _check_vector_size(const Eigen::VectorXd &q);
+
+    bool calculateDesiredValues(double t, Vector7d* delta_q_d) const;
+    void calculateSynchronizedValues();
+
+    static constexpr double kDeltaQMotionFinished = 1e-3; //1e-6;
+    Vector7d q_goal_;
+
+    Vector7d q_start_;
+    Vector7d delta_q_;
+
+    Vector7d dq_max_sync_;
+    Vector7d t_1_sync_;
+    Vector7d t_2_sync_;
+    Vector7d t_f_sync_;
+    Vector7d q_1_;
+
+    double time_ = 0.0;
+
+    Vector7d dq_max_ = (Vector7d() << 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();
+    Vector7d ddq_max_start_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
+    Vector7d ddq_max_goal_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
+};