CartesianImpedanceControllerConfigWidget.h

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#pragma once
 
#include <QSettings>
#include <QWidget>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/SpinBoxToPose.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/SpinBoxToVector.h>
 
#include <RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.h>
#include <RobotAPI/libraries/RobotAPINJointControllerWidgets/ui_CartesianImpedanceControllerConfigWidget.h>
 
namespace armarx
{
    class CartesianImpedanceControllerConfigWidget : public QWidget
    {
    public:
        CartesianImpedanceControllerConfigWidget(QWidget* parent = nullptr);
 
        void loadSettings(QSettings* settings, const QString& prefix = "");
 
        void saveSettings(QSettings* settings, const QString& prefix = "");
 
        void on_pushButtonNullspaceUpdateJoints_clicked();
        void on_pushButtonNullspaceSend_clicked();
        void on_pushButtonSettingsSend_clicked();
 
        NJointTaskSpaceImpedanceControlConfigPtr
        readFullCFG(const Eigen::Vector3f& targPos, const Eigen::Quaternionf& targOri) const;
        NJointTaskSpaceImpedanceControlRuntimeConfig readRuntimeCFG() const;
        std::tuple<Eigen::VectorXf, Eigen::VectorXf, Eigen::VectorXf> readNullspaceCFG() const;
 
        ///if null -> send buttons deactivated
        void setController(const NJointTaskSpaceImpedanceControlInterfacePrx& prx);
        void setRNS(const VirtualRobot::RobotNodeSetPtr& rns);
 
        Ui::CartesianImpedanceControllerConfigWidget ui;
        SpinBoxToVector<QDoubleSpinBox, 3> kxyz;
        SpinBoxToVector<QDoubleSpinBox, 3> krpy;
        SpinBoxToVector<QDoubleSpinBox, 3> dxyz;
        SpinBoxToVector<QDoubleSpinBox, 3> drpy;
        SpinBoxToVector<QDoubleSpinBox> jointValues;
        SpinBoxToVector<QDoubleSpinBox> jointKnull;
        SpinBoxToVector<QDoubleSpinBox> jointDnull;
 
    private:
        NJointTaskSpaceImpedanceControlInterfacePrx _controller;
        VirtualRobot::RobotNodeSetPtr _rns;
    };
} // namespace armarx