controller_descriptions.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/>.
 *
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <armarx/control/common/control_law/aron/TaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceMixedImpedanceVelocityControllerConfig.aron.generated.h>
// #include <armarx/control/common/control_law/aron/CollisionAvoidanceConfig.aron.generated.h>
// #include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/ObjectCollisionAvoidanceVelControllerConfig.aron.generated.h>
 
/// controller config dict aron types
#include <armarx/control/common/control_law/aron/TaskspaceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/CollisionAvoidanceControllerConfig.aron.generated.h>
 
#include <armarx/control/client/ControllerDescription.h>
#include <armarx/control/common/type.h>
#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
 
namespace armarx::control::client
{
    namespace law = armarx::control::common::control_law;
 
    /// Base controllers
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPAdm>
    {
        using AronDTO = law::arondto::TSAdmConfigDict;
        using Proxy = armarx::control::TSMPCtrlInterfacePrx;
        constexpr static const char* name = "TSMPAdm";
        constexpr static const char* ctrlConfigClassName = "TSAdm";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImp>
    {
        using AronDTO = law::arondto::TSImpConfigDict;
        using Proxy = armarx::control::TSMPCtrlInterfacePrx;
        constexpr static const char* name = "TSMPImp";
        constexpr static const char* ctrlConfigClassName = "TSImp";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPVel>
    {
        using AronDTO = law::arondto::TSVelConfigDict;
        using Proxy = armarx::control::TSMPCtrlInterfacePrx;
        constexpr static const char* name = "TSMPVel";
        constexpr static const char* ctrlConfigClassName = "TSVel";
    };
 
    // template <>
    // struct ControllerDescription<armarx::control::common::ControllerType::TSMPImpObjCol>
    // {
    //     using AronDTO = armarx::control::common::control_law::arondto::
    //         ObjectCollisionAvoidanceTSImpedanceControllerConfig;
    //     using Proxy = armarx::control::NJointTSObjectCollisionAvoidanceImpedanceMPControllerInterfacePrx;
    //     constexpr static const char* name = "NJointTSObjectCollisionAvoidanceImpedanceMPController";
    //     constexpr static const char* ctrlConfigClassName =
    //         "NJointTaskspaceObjectCollisionAvoidanceImpedanceController";
    // };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPMixImpVel>
    {
        using AronDTO = law::arondto::TSMixImpVelConfigDict;
        using Proxy = armarx::control::TSMPCtrlInterfacePrx;
        constexpr static const char* name = "TSMPMixImpVel";
        constexpr static const char* ctrlConfigClassName = "TSMixImpVel";
    };
 
    /// Collision Avoidance controllers
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImpCol>
    {
        using AronDTO = law::arondto::TSImpColConfigDict;
        using Proxy = armarx::control::TSMPColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSMPImpCol";
        constexpr static const char* ctrlConfigClassName = "TSImpCol";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPVelCol>
    {
        using AronDTO = law::arondto::TSVelColConfigDict;
        using Proxy = armarx::control::TSMPColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSMPVelCol";
        constexpr static const char* ctrlConfigClassName = "TSVelCol";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPVeloCol>
    {
        using AronDTO = law::arondto::TSVeloColConfigDict;
        using Proxy = armarx::control::TSMPColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSMPVeloCol";
        constexpr static const char* ctrlConfigClassName = "TSVeloCol";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPMixImpVelCol>
    {
        using AronDTO = law::arondto::TSMixImpVelColConfigDict;
        using Proxy = armarx::control::TSMPColAvoidCtrlInterfacePrx;
        constexpr static const char* name = "TSMPMixImpVelCol";
        constexpr static const char* ctrlConfigClassName = "TSMixImpVelCol";
    };
 
    /// Specific Controllers
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPMixImpVelColWiping>
    {
        using AronDTO = armarx::control::common::control_law::arondto::
            CollisionAvoidanceTSMixedImpedanceVelocityControllerConfig;
        using Proxy = armarx::control::NJointWipingMixImpVelColMPControllerInterfacePrx;
        constexpr static const char* name = "NJointWipingMixImpVelColMPController";
        constexpr static const char* ctrlConfigClassName =
            "NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPVelWiping>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceVelocityControllerConfigDict;
        using Proxy = armarx::control::NJointWipingVelMPControllerInterfacePrx;
        constexpr static const char* name = "NJointWipingVelMPController";
        constexpr static const char* ctrlConfigClassName = "NJointTaskspaceVelocityController";
    };
 
    template <>
    struct ControllerDescription<armarx::control::common::ControllerType::TSMPImpWiping>
    {
        using AronDTO =
            armarx::control::common::control_law::arondto::TaskspaceImpedanceControllerConfigDict;
        using Proxy = armarx::control::NJointWipingImpMPControllerInterfacePrx;
        constexpr static const char* name = "NJointWipingImpMPController";
        constexpr static const char* ctrlConfigClassName = "NJointTaskspaceImpedanceController";
    };
 
} // namespace armarx::control::client