ZeroTorque.h

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#pragma once
 
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
#include <RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.h>
 
namespace armarx
{
    class ControlTarget1DoFActuatorZeroTorque;
}
 
namespace armarx::control::njoint_controller::joint_space
{
 
    struct NJointZeroTorqueControllerTarget
    {
        Ice::FloatSeq targetTorques;
    };
 
    TYPEDEF_PTRS_HANDLE(NJointZeroTorqueController);
 
    class NJointZeroTorqueController :
        public NJointControllerWithTripleBuffer<NJointZeroTorqueControllerTarget>,
        public NJointZeroTorqueControllerInterface
    {
    public:
        using ConfigPtrT = NJointZeroTorqueControllerConfigPtr;
        NJointZeroTorqueController(RobotUnitPtr prov,
                                   const NJointZeroTorqueControllerConfigPtr& config,
                                   const VirtualRobot::RobotPtr&);
 
        // NJointControllerInterface interface
        std::string getClassName(const Ice::Current&) const override;
        //        WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current&) const override;
        //        void callDescribedFunction(const std::string& name, const StringVariantBaseMap& valueMap, const Ice::Current&) override;
 
        // NJointController interface
        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;
        static WidgetDescription::WidgetPtr
        GenerateConfigDescription(const VirtualRobot::RobotPtr&,
                                  const std::map<std::string, ConstControlDevicePtr>&,
                                  const std::map<std::string, ConstSensorDevicePtr>&);
 
        static NJointZeroTorqueControllerConfigPtr
        GenerateConfigFromVariants(const StringVariantBaseMap& values);
 
    protected:
        void rtPreActivateController() override;
        void rtPostDeactivateController() override;
 
        std::vector<ControlTarget1DoFActuatorZeroTorque*> targets;
        float maxTorque = std::numeric_limits<float>::max();
 
        // NJointZeroTorqueControllerInterface interface
    public:
        void setControllerTarget(const Ice::FloatSeq&, const Ice::Current&) override;
    };
 
} // namespace armarx::control::njoint_controller::joint_space