ControllerConfiguration.cpp

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#include "ControllerConfiguration.h"
 
#include <armarx/control/hardware_config/Errors.h>
 
namespace armarx::control::joint_controller
{
 
    PositionControllerConfigurationPtr
    PositionControllerConfiguration::CreatePositionControllerConfigData(
        hardware_config::Config& config)
    {
        PositionControllerConfiguration configData;
 
        configData.maxVelocityRad = config.getFloat("maxVelocityRad");
        configData.maxAccelerationRad = config.getFloat("maxAccelerationRad");
        configData.maxDecelerationRad = config.getFloat("maxDecelerationRad");
        configData.p = config.getFloat("p");
        configData.accuracy = config.getFloat("accuracy");
        configData.useElmoRelativePositionController =
            config.getBool("useElmoRelativePositionController");
 
        return std::make_shared<PositionControllerConfiguration>(configData);
    }
 
    VelocityControllerConfigurationPtr
    VelocityControllerConfiguration::CreateVelocityControllerConfigData(
        hardware_config::Config& config)
    {
        VelocityControllerConfiguration configData;
 
        configData.maxVelocityRad = config.getFloat("maxVelocityRad");
        configData.maxAccelerationRad = config.getFloat("maxAccelerationRad");
        configData.maxDecelerationRad = config.getFloat("maxDecelerationRad");
 
        return std::make_shared<VelocityControllerConfiguration>(configData);
    }
 
    HolonomicPlatformControllerConfigurationPtr
    HolonomicPlatformControllerConfiguration::CreateHolonomicPlatformControllerConfigData(
        hardware_config::Config& config)
    {
        HolonomicPlatformControllerConfiguration configData;
 
        configData.maxVelocity = config.getFloat("maxVelocity");
        configData.maxAcceleration = config.getFloat("maxAcceleration");
        configData.maxDeceleration = config.getFloat("maxDeceleration");
        configData.maxAngularVelocity = config.getFloat("maxAngularVelocity");
        configData.maxAngularAcceleration = config.getFloat("maxAngularAcceleration");
        configData.maxAngularDeceleration = config.getFloat("maxAngularDeceleration");
 
        // Optional, so that robot configurations which predate it keep working unchanged.
        try
        {
            configData.directionPreservingRamp = config.getBool("directionPreservingRamp");
        }
        catch (const hardware_config::ConfigElementNotFoundError&)
        {
            configData.directionPreservingRamp = false;
        }
 
        return std::make_shared<HolonomicPlatformControllerConfiguration>(configData);
    }
 
} // namespace armarx::control::joint_controller