ControllerInterface.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    armarx::skills::control
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
 
module armarx
{
    module control
    {
 
        module RobotUnitControllerNames
        {
            const string NJointZeroTorqueController = "NJointZeroTorqueController";
            const string NJointZeroTorqueOrVelocityController =
                "NJointZeroTorqueOrVelocityController";
        };
 
        //        class NJointZeroTorqueControllerConfig extends NJointControllerConfig
        //        {
        //            Ice::StringSeq jointNames;
        //            float maxTorque = 10.0f;
        //        };
 
        //        interface NJointZeroTorqueControllerInterface extends NJointControllerInterface
        //        {
        //            void setControllerTarget(Ice::FloatSeq targetTorques);
        //        };
 
        class NJointZeroTorqueOrVelocityControllerConfig extends NJointControllerConfig
        {
            Ice::StringSeq jointNamesZeroTorque;
            Ice::StringSeq jointNamesZeroVelocity;
            float maxTorque = 10.0f;
            float maxVelocity = 2.0f;
        };
 
        interface NJointZeroTorqueOrVelocityControllerInterface extends NJointControllerInterface
        {
            void setControllerTarget(Ice::FloatSeq targetTorqueOrVelocity);
        };
 
        class NJointZeroTorqueOrVelocityWithFTControllerConfig extends NJointControllerConfig
        {
            Ice::StringSeq robotNodeSetList;
            bool useZeroVelocityModeForWrist = true;
            float maxTorque = 10.0f;
            float maxVelocity = 2.0f;
        };
 
        interface NJointZeroTorqueOrVelocityWithFTControllerInterface extends
            NJointControllerInterface
        {
            void setControllerTarget(Ice::FloatSeq targetTorqueOrVelocity);
        };
    }; // control
}; // armarx