ColAvoid.cpp

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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       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ColAvoid.h"
 
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotNodeSet.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h> // FIXME avoid this
 
#include <armarx/control/common/utils.h>
 
namespace armarx::control::njoint_mp_controller::task_space
{
    /// TSMPImpCol
    NJointControllerRegistration<TSMPImpCol>
            registrationControllerTSMPImpCol("TSMPImpCol");
 
    TSMPImpCol::TSMPImpCol(const RobotUnitPtr& robotUnit,
            const NJointControllerConfigPtr& config,
            const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSImpColController, TSMPColAvoidCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPImpCol::getClassName(const Ice::Current&) const
    {
        return "TSMPImpCol";
    }
 
    // /// TSMPAdmCol
    // NJointControllerRegistration<TSMPAdmCol>
    //         registrationControllerTSMPAdmCol("TSMPAdmCol");
    //
    // TSMPAdmCol::TSMPAdmCol(const RobotUnitPtr& robotUnit,
    //                  const NJointControllerConfigPtr& config,
    //                  const VirtualRobot::RobotPtr& robot):
    //         NJointTSAdmColController(robotUnit, config, robot),
    //         TSMPController<NJointTSAdmColController>(robotUnit, config, robot)
    // {
    //     ARMARX_IMPORTANT << getClassName() + " construction done";
    // }
    //
    // std::string
    // TSMPAdmCol::getClassName(const Ice::Current&) const
    // {
    //     return "TSMPAdmCol";
    // }
    //
    // /// TSMPVelCol
    // NJointControllerRegistration<TSMPVelCol>
    //         registrationControllerTSMPVelCol("TSMPVelCol");
    //
    // TSMPVelCol::TSMPVelCol(const RobotUnitPtr& robotUnit,
    //                  const NJointControllerConfigPtr& config,
    //                  const VirtualRobot::RobotPtr& robot):
    //         NJointTSVelColController(robotUnit, config, robot),
    //         TSMPController<NJointTSVelColController>(robotUnit, config, robot)
    // {
    //     ARMARX_IMPORTANT << getClassName() + " construction done";
    // }
    //
    // std::string
    // TSMPVelCol::getClassName(const Ice::Current&) const
    // {
    //     return "TSMPVelCol";
    // }
 
 
    /// TSMPVelCol
    NJointControllerRegistration<TSMPVelCol>
        registrationControllerTSMPVelCol("TSMPVelCol");
 
    TSMPVelCol::TSMPVelCol(const RobotUnitPtr& robotUnit,
                const NJointControllerConfigPtr& config,
                const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSVelColController, TSMPColAvoidCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPVelCol::getClassName(const Ice::Current&) const
    {
        return "TSMPVelCol";
    }
 
 
    /// TSMPVeloCol
    NJointControllerRegistration<TSMPVeloCol>
        registrationControllerTSMPVeloCol("TSMPVeloCol");
 
    TSMPVeloCol::TSMPVeloCol(const RobotUnitPtr& robotUnit,
                const NJointControllerConfigPtr& config,
                const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSVeloColController, TSMPColAvoidCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPVeloCol::getClassName(const Ice::Current&) const
    {
        return "TSMPVeloCol";
    }
 
 
    /// TSMPMixImpVelCol
    NJointControllerRegistration<TSMPMixImpVelCol>
            registrationControllerTSMPMixImpVelCol("TSMPMixImpVelCol");
 
    TSMPMixImpVelCol::TSMPMixImpVelCol(const RobotUnitPtr& robotUnit,
                     const NJointControllerConfigPtr& config,
                     const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPMixImpVelCol::getClassName(const Ice::Current&) const
    {
        return "TSMPMixImpVelCol";
    }
} // namespace armarx::control::njoint_mp_controller::task_space