ColAvoid.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 <armarx/control/njoint_controller/task_space/ColAvoid.h>
#include <armarx/control/njoint_controller/task_space/ColAvoidVel.h>
#include <armarx/control/njoint_mp_controller/task_space/Base.h>
#include <armarx/control/njoint_mp_controller/task_space/Template.h>
 
namespace armarx::control::njoint_mp_controller::task_space
{
    using namespace armarx::control::njoint_controller::task_space;
    using namespace armarx::control::common;
 
    class TSMPImpCol: public TSMPController<NJointTSImpColController, TSMPColAvoidCtrlInterface>
    {
    public:
        TSMPImpCol(const RobotUnitPtr& robotUnit,
                   const NJointControllerConfigPtr& config,
                   const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    // class TSMPAdmCol: public TSMPController<NJointTSAdmColController>
    // {
    // public:
    //     TSMPAdmCol(const RobotUnitPtr& robotUnit,
    //                const NJointControllerConfigPtr& config,
    //                const VirtualRobot::RobotPtr& robot);
    //
    //     std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    // };
 
    class TSMPVelCol: public TSMPController<NJointTSVelColController, TSMPColAvoidCtrlInterface>
    {
    public:
        TSMPVelCol(const RobotUnitPtr& robotUnit,
                   const NJointControllerConfigPtr& config,
                   const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    class TSMPVeloCol: public TSMPController<NJointTSVeloColController, TSMPColAvoidCtrlInterface>
    {
    public:
        TSMPVeloCol(const RobotUnitPtr& robotUnit,
                   const NJointControllerConfigPtr& config,
                   const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    class TSMPMixImpVelCol: public TSMPController<NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface>
    {
    public:
        TSMPMixImpVelCol(const RobotUnitPtr& robotUnit,
                         const NJointControllerConfigPtr& config,
                         const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
} // namespace armarx::control::njoint_mp_controller::task_space