Base.h

Go to the documentation of this file.

/*
 * 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/common/mp/JSMP.h>
#include <armarx/control/common/mp/MPPool.h>
#include <armarx/control/common/mp/TSMP.h>
#include <armarx/control/njoint_controller/task_space/Base.h>
#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.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;
 
    // template <typename TSControllerType, typename MPInterfaceType>
    // class TSMPController :
    //     public TSControllerType,
    //     public mp::MPPool,
    //     virtual public MPInterfaceType
    // {
    // public:
    //     using MPListConfig = common::mp::arondto::MPListConfig;
    //
    //     TSMPController(const RobotUnitPtr& robotUnit,
    //                    const NJointControllerConfigPtr& config,
    //                    const VirtualRobot::RobotPtr&);
    //
    //     void updateMPConfig(const ::armarx::aron::data::dto::DictPtr& dto,
    //                         const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
    //     void additionalTask() override;
    // };
 
    class TSMPImp: public TSMPController<NJointTSImpController, TSMPCtrlInterface>
    {
    public:
        TSMPImp(const RobotUnitPtr& robotUnit,
                const NJointControllerConfigPtr& config,
                const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    class TSMPAdm: public TSMPController<NJointTSAdmController, TSMPCtrlInterface>
    {
    public:
        TSMPAdm(const RobotUnitPtr& robotUnit,
                const NJointControllerConfigPtr& config,
                const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    class TSMPVel: public TSMPController<NJointTSVelController, TSMPCtrlInterface>
    {
    public:
        TSMPVel(const RobotUnitPtr& robotUnit,
                const NJointControllerConfigPtr& config,
                const VirtualRobot::RobotPtr& robot);
 
        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
    };
 
    class TSMPMixImpVel: public TSMPController<NJointTSMixImpVelController, TSMPCtrlInterface>
    {
    public:
        TSMPMixImpVel(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