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     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include "armarx/control/njoint_mp_controller/task_space/AdmittanceController.h"
#include "armarx/control/njoint_mp_controller/task_space/CollisionAvoidanceImpedanceController.h"
#include "armarx/control/njoint_mp_controller/task_space/CollisionAvoidanceMixedImpedanceVelocityController.h"
#include "armarx/control/njoint_mp_controller/task_space/ImpedanceController.h"
#include "armarx/control/njoint_mp_controller/task_space/MixedImpedanceVelocityController.h"
#include "armarx/control/njoint_mp_controller/task_space/VelocityController.h"
#include "armarx/control/njoint_mp_controller/task_space/SafetyImpedanceController.h"
#include <armarx/control/client/ControllerDescription.h>
#include <armarx/control/common/type.h>
#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
 
//#include <armarx/control/njoint_mp_controller/task_space/BiKAC.h>
//#include <armarx/control/njoint_mp_controller/task_space/KVILImpedanceController.h>
 
namespace armarx::control::client
{
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImp>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
        using Proxy = armarx::control::NJointTSImpedanceMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSImpedanceMPController";
        constexpr static const char* ctrlConfigClassName = "NJointTaskspaceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImpCol>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            CollisionAvoidanceTSImpedanceControllerConfig;
        using Proxy = armarx::control::NJointTSCollisionAvoidanceImpedanceMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSCollisionAvoidanceImpedanceMPController";
        constexpr static const char* ctrlConfigClassName =
            "NJointTaskspaceCollisionAvoidanceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImpSafe>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            SafetyTaskspaceImpedanceControllerConfigDict;
        using Proxy = armarx::control::NJointTSSafetyImpedanceMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSSafetyImpedanceMPController";
        constexpr static const char* ctrlConfigClassName =
            "NJointTaskspaceSafetyImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPMixImpVel>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            TaskspaceMixedImpedanceVelocityControllerConfigDict;
        using Proxy = armarx::control::NJointTSMixedImpedanceVelocityMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSMixedImpedanceVelocityMPController";
        constexpr static const char* ctrlConfigClassName =
            "NJointTaskspaceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPVel>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            TaskspaceVelocityControllerConfigDict;
        using Proxy = armarx::control::NJointTSVelocityMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSVelocityMPController";
        constexpr static const char* ctrlConfigClassName = "NJointTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPMixImpVelCol>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            CollisionAvoidanceTSMixedImpedanceVelocityControllerConfig;
        using Proxy = armarx::control::
            NJointTSCollisionAvoidanceMixedImpedanceVelocityMPControllerInterfacePrx;
        constexpr static const char* name =
            "NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController";
        constexpr static const char* ctrlConfigClassName =
            "NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPAdm>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceAdmittanceControllerConfigDict;
        using Proxy = armarx::control::NJointTSAdmittanceMPControllerInterfacePrx;
        constexpr static const char* name = "NJointTSAdmittanceMPController";
        constexpr static const char* ctrlConfigClassName = "NJointTaskspaceAdmittanceController";
    };
 
    //    template <>
    //    struct ControllerDescription<armarx::control::common::ControllerType::KVILImpedanceMP>
    //    {
    //        using AronDTO =
    //            armarx::control::njoint_mp_controller::task_space::arondto::KVILImpedanceMPConfig;
 
    //        //        using BO = armarx::control::njoint_mp_controller::task_space::KVILImpedanceMPConfig;
 
    //        constexpr static const char* name = "NJointKVILImpedanceMPController";
    //    };
 
    //    template <>
    //    struct ControllerDescription<armarx::control::common::ControllerType::BiKAC>
    //    {
    //        using AronDTO =
    //            armarx::control::common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
 
    //        //        using BO = armarx::control::common::control_law::TaskspaceImpedanceController::ConfigDict;
 
    //        constexpr static const char* name = "NJointBiKAC";
    //    };
 
 
} // namespace armarx::control::client