Base.cpp

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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/>.
 *
 * @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
 */
 
#include "Base.h"
 
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotNodeSet.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h> // FIXME avoid this
 
#include <armarx/control/common/utils.h>
 
namespace armarx::control::njoint_mp_controller::task_space
{
    /// TSMPImp
    NJointControllerRegistration<TSMPImp>
            registrationControllerTSMPImp("TSMPImp");
 
    TSMPImp::TSMPImp(const RobotUnitPtr& robotUnit,
            const NJointControllerConfigPtr& config,
            const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSImpController, TSMPCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPImp::getClassName(const Ice::Current&) const
    {
        return "TSMPImp";
    }
 
    /// TSMPAdm
    NJointControllerRegistration<TSMPAdm>
            registrationControllerTSMPAdm("TSMPAdm");
 
    TSMPAdm::TSMPAdm(const RobotUnitPtr& robotUnit,
                     const NJointControllerConfigPtr& config,
                     const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSAdmController, TSMPCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPAdm::getClassName(const Ice::Current&) const
    {
        return "TSMPAdm";
    }
 
    /// TSMPVel
    NJointControllerRegistration<TSMPVel>
            registrationControllerTSMPVel("TSMPVel");
 
    TSMPVel::TSMPVel(const RobotUnitPtr& robotUnit,
                     const NJointControllerConfigPtr& config,
                     const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSVelController, TSMPCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPVel::getClassName(const Ice::Current&) const
    {
        return "TSMPVel";
    }
 
    /// TSMPMixImpVel
    NJointControllerRegistration<TSMPMixImpVel>
            registrationControllerTSMPMixImpVel("TSMPMixImpVel");
 
    TSMPMixImpVel::TSMPMixImpVel(const RobotUnitPtr& robotUnit,
                     const NJointControllerConfigPtr& config,
                     const VirtualRobot::RobotPtr& robot):
            TSMPController<NJointTSMixImpVelController, TSMPCtrlInterface>(robotUnit, config, robot)
    {
        ARMARX_IMPORTANT << getClassName() + " construction done";
    }
 
    std::string
    TSMPMixImpVel::getClassName(const Ice::Current&) const
    {
        return "TSMPMixImpVel";
    }
} // namespace armarx::control::njoint_mp_controller::task_space