26 #include <armarx/control/interface/ConfigurableNJointControllerInterface.h>
32 template <
typename _AronConfigT>
34 public armarx::control::ConfigurableNJointControllerInterface
41 configData_(readConfig(config))
44 using IceConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
46 const IceConfigPtrT cfg = IceConfigPtrT::dynamicCast(config);
54 const Ice::Current& iceCurrent)
override
56 const AronConfigT configData = AronConfigT::FromAron(dto);
72 readConfig(
const NJointControllerConfigPtr& config)
const
76 "AronConfigT must be a generated class from Aron!");
78 using IceConfigPtrT = control::ConfigurableNJointControllerConfigPtr;
81 const IceConfigPtrT cfg = IceConfigPtrT::dynamicCast(config);
85 AronConfigT configData = AronConfigT::FromAron(cfg->config);