TrajectoryControllerFactory.cpp

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#include "TrajectoryControllerFactory.h"
 
#include <memory>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
 
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryController.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
#include <armarx/navigation/trajectory_control/local/core.h>
 
namespace armarx::navigation::fac
{
    traj_ctrl::local::TrajectoryControllerPtr
    TrajectoryControllerFactory::create(const aron::data::DictPtr& params)
    {
        namespace layer = traj_ctrl::local;
 
        if (not params)
        {
            return nullptr;
        }
 
        // algo name
        const auto algoName = aron::data::String::DynamicCast(params->getElement(core::NAME_KEY));
        ARMARX_CHECK_NOT_NULL(algoName);
        const layer::Algorithms algo = layer::AlgorithmNames.from_name(algoName->getValue());
 
        // algo params
        const auto algoParams = aron::data::Dict::DynamicCast(params->getElement(core::PARAMS_KEY));
        ARMARX_CHECK_NOT_NULL(algoParams);
 
        traj_ctrl::local::TrajectoryControllerPtr controller;
        switch (algo)
        {
            case traj_ctrl::local::Algorithms::TrajectoryFollowingController:
                controller = std::make_shared<traj_ctrl::local::TrajectoryFollowingController>(
                    traj_ctrl::local::TrajectoryFollowingControllerParams::FromAron(algoParams));
                break;
        }
 
        return controller;
    }
} // namespace armarx::navigation::fac