ComponentInterface.ice

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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    control::controller_creator
 * author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * date       2023
 * copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *            GNU General Public License
 */
 
 
#pragma once
 
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
 
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
#include <RobotAPI/interface/aron.ice>
 
 
module armarx
{
    module control
    {
        module components
        {
            module controller_creator
            {
                // using MyRowMajorMatrix4f = Eigen::Matrix<float, 4, 4, Eigen::RowMajor>;
                // using MyRowMajorVectorXf = Eigen::Matrix<float, Eigen::Dynamic, 1, Eigen::RowMajor>;
                // dictionary<string, Eigen::Matrix4f> TargetPoseMap;
                // dictionary<string, Eigen::VectorXf> TargetNullspaceMap;
 
                dictionary<string, FloatSeqSeq> TargetPoseMap;
                dictionary<string, Ice::FloatSeq> TargetNullspaceMap;
 
                interface ComponentInterface extends armarx::armem::client::MemoryListenerInterface
                {
                    string createController(string namePrefix,
                                            string controllerType,
                                            armarx::aron::data::dto::Dict configDict,
                                            string configFilename,
                                            bool activate,
                                            bool allowReuse,
                                            bool cfgFromMemory);
                    string kinestheticTeaching(
                        string kinematicChainName, string side, string nameSuffix, string fileName);
                    void enableVelocityMode();
                    void toggleZeroTorque(string leftNodesetName, string rightNodesetName);
 
 
                    Ice::FloatSeq getPoseInRootFrame(string node_name);
                    Ice::FloatSeq getPoseInGlobalFrame(string node_name);
                };
            };
        };
    };
};