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
 
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
#include <armarx/control/client/ControllerDescription.h>
#include <armarx/control/njoint_controller/platform/platform_follower_controller/PlatformFollowerController.h>
 
namespace armarx::control::njoint_controller::platform
{
    enum class ControllerType
    {
        PlatformFollowerController
    };
 
    inline const simox::meta::EnumNames<ControllerType> ControllerTypeNames{
        {ControllerType::PlatformFollowerController, "PlatformFollowerController"}};
} // namespace armarx::control::njoint_controller::platform
 
namespace armarx::control::client
{
    template <>
    struct ControllerDescription<
        ::armarx::control::njoint_controller::platform::ControllerType::PlatformFollowerController>
    {
        using AronDTO = ::armarx::control::njoint_controller::platform::
            platform_follower_controller::arondto::Config;
 
        using BO =
            ::armarx::control::njoint_controller::platform::platform_follower_controller::Config;
 
        // constexpr static const char* name = armarx::navigation::common::ControllerTypeNames.to_name(armarx::navigation::common::ControllerType::PlatformTrajectory);
        constexpr static const char* name = "PlatformFollowerController";
    };
 
 
} // namespace armarx::control::client