NJointControllers.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/>.
 *
 * @package    ...
 * @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
 */
 
#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/control/common/common.aron.generated.h>
#include <armarx/control/common/control_law/TaskspaceController.h>
// #include <armarx/control/common/coordination/SyncCoordination.h>
// #include <armarx/control/common/device.h>
// #include <armarx/control/njoint_controller/core/HandControlBase.h>
#include <armarx/control/njoint_controller/task_space/NJointControllersBase.h>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::njoint_controller::task_space
{
    namespace law = armarx::control::common::control_law;
 
    class NJointTSMixImpVelController:
            public NJointTaskspaceController<law::TSMixImpVelController>
    {
    public:
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
        // static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap& values);
    };
 
    class NJointTSImpController:
            public NJointTaskspaceController<law::TSImpController>
    {
    public:
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
        void validateConfigDataCheckSize(Config& configData, ArmPtr& arm) override;
        void limbPublishConfig(StringVariantBaseMap& datafields, ArmPtr& arm) override;
        // static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap& values);
    };
 
} // namespace armarx::control::njoint_controller::task_space