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 <armarx/control/client/ControllerDescription.h>
#include <armarx/control/common/control_law/aron/CollisionAvoidanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceVelControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceControllerConfig.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>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::client
{
    namespace law = armarx::control::common::control_law;
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSAdm>
    {
        using AronDTO = law::arondto::TSAdmConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSAdm";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSImp>
    {
        using AronDTO = law::arondto::TSImpConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSImp";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSImpCol>
    {
        using AronDTO = law::arondto::TSImpColConfigDict;
        using Proxy = armarx::control::TSColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSImpCol";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSVel>
    {
        using AronDTO = law::arondto::TSVelConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSVel";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSVelCol>
    {
        using AronDTO = law::arondto::TSVelColConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSVelCol";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSVeloCol>
    {
        using AronDTO = law::arondto::TSVeloColConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSVeloCol";
    };
 
    // template <>
    // struct ControllerDescription<armarx::control::common::ControllerType::TSImpObjCol>
    // {
    //     using AronDTO = armarx::control::common::control_law::arondto::
    //         ObjectCollisionAvoidanceTSImpedanceControllerConfig;
    //
    //     using Proxy = armarx::control::NJointTaskspaceObjectCollisionAvoidanceImpedanceControllerInterfacePrx;
    //
    //     constexpr static const char* name = "NJointTaskspaceObjectCollisionAvoidanceImpedanceController";
    // };
 
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMixImpVel>
    {
        using AronDTO = law::arondto::TSMixImpVelConfigDict;
        using Proxy = armarx::control::TSCtrlInterfacePrx;
        constexpr static const char* name = "TSMixImpVel";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMixImpVelCol>
    {
        using AronDTO = law::arondto::TSMixImpVelColConfigDict;
        using Proxy = armarx::control::TSColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSMixImpVelCol";
    };
 
    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";
    };
 
    /// ZeroMQ controller
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZMQTSVel>
    {
        using AronDTO = law::arondto::TaskspaceVelocityControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZeroMQTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZMQTSImp>
    {
        using AronDTO = law::arondto::TaskspaceImpedanceControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZeroMQTaskspaceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZMQTSMixImpVel>
    {
        using AronDTO = law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZeroMQTaskspaceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZMQTSImpCol>
    {
        using AronDTO = law::arondto::CollisionAvoidanceTSImpedanceControllerConfig;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointZeroMQTaskspaceCollisionAvoidanceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZMQTSMixImpVelCol>
    {
        using AronDTO = law::arondto::CollisionAvoidanceTSMixedImpedanceVelocityControllerConfig;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointZeroMQTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
    /// Zenoh Controller
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZenohTSVel>
    {
        using AronDTO = law::arondto::TaskspaceVelocityControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZenohTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZenohTSImp>
    {
        using AronDTO = law::arondto::TaskspaceImpedanceControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZenohTaskspaceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZenohTSMixImpVel>
    {
        using AronDTO = law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointZenohTaskspaceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZenohTSImpCol>
    {
        using AronDTO = law::arondto::CollisionAvoidanceTSImpedanceControllerConfig;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointZenohTaskspaceCollisionAvoidanceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::ZenohTSMixImpVelCol>
    {
        using AronDTO = law::arondto::CollisionAvoidanceTSMixedImpedanceVelocityControllerConfig;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointZenohTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
    // ************************
    // Shared Memory Controller
    // ************************
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSVel>
    {
        using AronDTO = law::arondto::TSVelConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointSharedMemoryTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSVelCol>
    {
        using AronDTO = law::arondto::TSVelColConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointSharedMemoryTaskspaceVelColController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSVeloCol>
    {
        using AronDTO = law::arondto::TSVeloColConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointSharedMemoryTaskspaceVeloColController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSImp>
    {
        using AronDTO = law::arondto::TSImpConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name = "NJointSharedMemoryTaskspaceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSMixImpVel>
    {
        using AronDTO = law::arondto::TSMixImpVelConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointSharedMemoryTaskspaceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::SharedMemoryTSImpCol>
    {
        using AronDTO = law::arondto::TSImpColConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointSharedMemoryTaskspaceCollisionAvoidanceImpedanceController";
    };
 
    template <>
    struct ControllerDescription<
        armarx::control::common::ControllerType::SharedMemoryTSMixImpVelCol>
    {
        using AronDTO = law::arondto::TSMixImpVelColConfigDict;
 
        // using values from constants.h is not possible here due to constexpr
        constexpr static const char* name =
            "NJointSharedMemoryTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
} // namespace armarx::control::client