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       2021
 * @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/aron.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
#include <armarx/control/interface/ConfigurableNJointControllerInterface.ice>
 
 
module armarx
{
    module control
    {
        dictionary<string, FloatSeqSeq> TargetPoseMap;
        dictionary<string, Ice::FloatSeq> TargetNullspaceMap;
 
        interface TSCtrlInterface extends ConfigurableNJointControllerInterface
        {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
            bool wasNotSafeForceTorque(string nodeSetName);
 
            void useCoordinator(string type, armarx::aron::data::dto::Dict dto);
            void disableCoordinator();
 
            Ice::DoubleSeq getCurrentTCPPose(string nodeSetName);
            armarx::aron::data::dto::Dict getRTStatus();
        };
 
        interface CollisionAvoidanceControllerInterface
        {
            void updateCollisionAvoidanceConfig(armarx::aron::data::dto::Dict config);
            armarx::aron::data::dto::Dict getCollisionAvoidanceConfig();
            // void updateCollisionObjects(string primitiveSourceName, armarx::aron::data::dto::Dict scene);
        }
 
        interface TSColAvoidCtrlInterface extends TSCtrlInterface,
            CollisionAvoidanceControllerInterface
        {
            void updateCollisionObjects(string primitiveSourceName,
                                        armarx::aron::data::dto::Dict scene);
            void deleteCollisionObjects();
        }
 
        interface ObjectCollisionControllerAvoidanceInterface extends
            CollisionAvoidanceControllerInterface
        {
            void updateCollisionObjects(string primitiveSourceName,
                                        armarx::aron::data::dto::Dict scene);
        }
 
        interface NJointTaskspaceImpedanceControllerInterface extends
            ConfigurableNJointControllerInterface {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
            void useCoordinator(string type, armarx::aron::data::dto::Dict dto);
            void updateObjectTargetPose(FloatSeqSeq targetPose);
            void disableCoordinator();
        };
 
        interface NJointTaskspaceCollisionAvoidanceImpedanceControllerInterface extends
            NJointTaskspaceImpedanceControllerInterface,
            CollisionAvoidanceControllerInterface
        {
        }
 
        interface NJointTaskspaceObjectCollisionAvoidanceImpedanceControllerInterface extends
            NJointTaskspaceImpedanceControllerInterface,
            ObjectCollisionControllerAvoidanceInterface
        {
        }
 
        interface NJointTaskspaceSafetyImpedanceControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
        };
 
        interface NJointTaskspaceMixedImpedanceVelocityControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
            void useCoordinator(string type, armarx::aron::data::dto::Dict dto);
            void disableCoordinator();
            Ice::DoubleSeq getCurrentTCPPose(string nodeSetName);
            armarx::aron::data::dto::Dict getRTStatus();
        };
 
        interface NJointTaskspaceVelocityControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
        };
 
        interface NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityControllerInterface extends
            NJointTaskspaceMixedImpedanceVelocityControllerInterface,
            CollisionAvoidanceControllerInterface
        {
        }
 
        interface NJointTaskspaceAdmittanceControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            Ice::FloatSeq getTCPVel(string rns);
            bool updateTargetPose(TargetPoseMap targetPoseMap,
                                  TargetNullspaceMap targetNullspaceMap);
 
            /// ft sensor
            void toggleGravityCompensation(bool toggle);
            void calibrateFTSensor();
            void enableSafeGuardForceTorque(string rns, bool forceGuard, bool torqueGuard);
            bool isSafeForceTorque(string nodeSetName);
        };
 
        // interface NJointTaskspaceBimanualImpedanceControllerInterface extends
        //     NJointTaskspaceImpedanceControllerInterface
        // {
        // };
 
        interface NJointKeypointsImpedanceControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            //        string getKinematicChainName();
        };
 
        //        class NJointTaskspaceZeroTorqueOrVelocityControllerConfig extends NJointControllerConfig
        //        {
        //            Ice::StringSeq robotNodeSetList;
        //            bool useZeroVelocityModeForWrist = true;
        //            float maxTorque = 10.0f;
        //            float maxVelocity = 2.0f;
        //        };
 
        interface NJointTaskspaceZeroTorqueOrVelocityControllerInterface extends
            ConfigurableNJointControllerInterface
        {
            //            void setControllerTarget(Ice::FloatSeq targetTorqueOrVelocity);
            void calibrateFTSensor();
        };
 
    }; /// control
}; /// armarx