controller_descriptions.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
// BO
//#include "armarx/control/common/control_law/KeypointsImpedanceController.h"
//#include "armarx/control/common/control_law/TaskspaceAdmittanceController.h"
//#include "armarx/control/common/control_law/TaskspaceImpedanceController.h"
//#include "armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.h"
// AronDTO
#include <armarx/control/client/ControllerDescription.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
//#include <armarx/control/common/control_law/aron/KeypointControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/CollisionAvoidanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/SafetyTaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceMixedImpedanceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/type.h>
#include <armarx/control/njoint_controller/joint_space/aron/WholeBodyTrajectoryControllerConfig.aron.generated.h>
 
namespace armarx::control::client
{
    // template <>
    // struct ControllerDescription<armarx::control::common::ControllerType::TSAdm>
    // {
    //     using AronDTO = armarx::control::arondto::TaskSpaceAdmittanceControllerConfig;
 
    //     constexpr static const char* name = "NJointTSAdmittance";
    // };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSImp>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
 
        using Proxy = armarx::control::NJointTaskspaceImpedanceControllerInterfacePrx;
        //        using BO = armarx::control::common::control_law::TaskspaceImpedanceController::ConfigDict;
 
        constexpr static const char* name = "NJointTaskspaceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSImpSafe>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            SafetyTaskspaceImpedanceControllerConfigDict;
 
        constexpr static const char* name = "NJointTaskspaceSafetyImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSImpCol>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            CollisionAvoidanceTSImpedanceControllerConfig;
 
        constexpr static const char* name = "NJointTaskspaceCollisionAvoidanceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMixImpVel>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            TaskspaceMixedImpedanceVelocityControllerConfigDict;
 
        constexpr static const char* name = "NJointTaskspaceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSVel>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            TaskspaceVelocityControllerConfigDict;
 
        constexpr static const char* name = "NJointTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMixImpVelCol>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            CollisionAvoidanceTSMixedImpedanceVelocityControllerConfig;
 
        constexpr static const char* name =
            "NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSAdm>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceAdmittanceControllerConfigDict;
 
 
        constexpr static const char* name = "NJointTaskspaceAdmittanceController";
    };
 
    //    template <>
    //    struct ControllerDescription<armarx::control::common::ControllerType::KptImpedance>
    //    {
    //        using AronDTO = armarx::control::common::control_law::arondto::KeypointControllerConfig;
 
    //        // using BO = armarx::control::common::control_law::KeypointsImpedanceController::Config;
 
    //        constexpr static const char* name = "NJointKeypointsImpedanceController";
    //    };
 
    //    template <>
    //    struct ControllerDescription<armarx::control::common::ControllerType::TSBiImpedance>
    //    {
    //        using AronDTO =
    //            armarx::control::common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
 
    //        using BO = armarx::control::common::control_law::TaskspaceImpedanceController::ConfigDict;
 
    //        constexpr static const char* name = "NJointTaskspaceBimanualImpedanceController";
    //    };
 
    template <>
    struct ControllerDescription<
        armarx::control::common::ControllerType::WholeBodyTrajectoryController>
    {
        using AronDTO = armarx::control::njoint_controller::joint_space::
            whole_body_trajectory_controller::arondto::Config;
 
        using BO = armarx::control::njoint_controller::joint_space::
            whole_body_trajectory_controller::arondto::Config;
 
        constexpr static const char* name = "NJointWholeBodyTrajectoryController";
    };
 
} // namespace armarx::control::client