ZeroTorqueOrVelocity.h

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#pragma once
 
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
 
#include <armarx/control/njoint_controller/joint_space/ControllerInterface.h>
 
namespace armarx::control::njoint_controller::joint_space
{
 
    struct NJointZeroTorqueOrVelocityControllerTarget
    {
        Ice::FloatSeq targetTorqueOrVelocity;
    };
 
    TYPEDEF_PTRS_HANDLE(NJointZeroTorqueOrVelocityController);
 
    class NJointZeroTorqueOrVelocityController :
        public NJointControllerWithTripleBuffer<NJointZeroTorqueOrVelocityControllerTarget>,
        public NJointZeroTorqueOrVelocityControllerInterface
    {
    public:
        using ConfigPtrT = NJointZeroTorqueOrVelocityControllerConfigPtr;
        NJointZeroTorqueOrVelocityController(
            RobotUnitPtr prov,
            const NJointZeroTorqueOrVelocityControllerConfigPtr& config,
            const VirtualRobot::RobotPtr&);
 
        // NJointControllerInterface interface
        std::string getClassName(const Ice::Current&) const override;
        //        WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current&) const override;
        //        void callDescribedFunction(const std::string& name, const StringVariantBaseMap& valueMap, const Ice::Current&) override;
 
        // NJointController interface
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
        //        void onPublish(const SensorAndControl&,
        //                       const DebugDrawerInterfacePrx&,
        //                       const DebugObserverInterfacePrx&) override;
        static WidgetDescription::WidgetPtr
        GenerateConfigDescription(const VirtualRobot::RobotPtr&,
                                  const std::map<std::string, ConstControlDevicePtr>&,
                                  const std::map<std::string, ConstSensorDevicePtr>&);
 
        static NJointZeroTorqueOrVelocityControllerConfigPtr
        GenerateConfigFromVariants(const StringVariantBaseMap& values);
 
    protected:
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
 
        std::vector<ControlTarget1DoFActuatorZeroTorque*> targetsTorque;
        std::vector<ControlTarget1DoFActuatorZeroVelocity*> targetsVel;
        float maxTorque = std::numeric_limits<float>::max();
        float maxVelocity = std::numeric_limits<float>::max();
        std::vector<bool> torqueControlled;
 
        // NJointZeroTorqueOrVelocityControllerInterface interface
    public:
        void setControllerTarget(const Ice::FloatSeq&, const Ice::Current&) override;
    };
 
} // namespace armarx::control::njoint_controller::joint_space