type.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 <SimoxUtility/meta/enum/EnumNames.hpp>
 
namespace armarx::control::common
{
 
    enum class ControllerType
    {
        // ----------- NjointControllers -----------
        TSAdm, // TSAdmittance,
        TSImp, // TSImpedance,
        TSImpCol, // TSCollisionAvoidanceImpedance,
        TSAdmCol, // TSCollisionAvoidanceAdmittance,
        TSMixImpVel, // TSMixedImpedanceVelocity,
        TSVel,
        TSMixImpVelCol, // TSCollisionAvoidanceMixedImpedanceVelocity,
        // KptAdm, // KptAdmittance,
        // KptImp, // KptImpedance,
        // ----------- NJointMPControllers -----------
        TSMPAdm, // TSAdmittanceMP,
        TSMPImp, // TSImpedanceMP,
        TSMPImpCol, // TSCollisionAvoidanceImpedanceMP,
        TSMPMixImpVel, // TSMixedImpedanceVelocityMP,
        TSMPVel,
        TSMPMixImpVelCol, // TSCollisionAvoidanceMixedImpedanceVelocityMP,
        // ----------- NJointMPControllers for specific use-cases ------------------
        TSMPMixImpVelColWiping, // adapted TSMPMixImpVelCol for wiping task
        TSMPVelWiping, // adapted TSMPVel for wiping task
        // KptMPAdm, // KptAdmittanceMP,
        // KptMPImp, // KptImpedanceMP,
        // KVILMPImp, // KVILImpedanceMP,
        // BiKAC,
        QPWholeBodyImpedance,
        QPWholeBodyVelocity,
        WholeBodyTrajectoryController
    };
 
    enum class MPType
    {
        taskspace,
        nullsapce,
        hand,
        // The following will probably be supported in the future
        //        hand_ts,
        //        head,
        //        platform
    };
 
 
    enum class MPStatus
    {
        reset,
        trained,
        running,
        paused,
        finished
    };
 
    inline const simox::meta::EnumNames<MPType> mpTypeToString = {{MPType::taskspace, "taskspace"},
                                                                  {MPType::nullsapce, "nullspace"},
                                                                  {MPType::hand, "hand"}};
 
    inline const simox::meta::EnumNames<ControllerType> ControllerTypeShort{
        {ControllerType::TSAdm, "TSAdm"},
        {ControllerType::TSImp, "TSImp"},
        {ControllerType::TSImpCol, "TSImpCol"},
        {ControllerType::TSMixImpVel, "TSMixImpVel"},
        {ControllerType::TSVel, "TSVel"},
        {ControllerType::TSMixImpVelCol, "TSMixImpVelCol"},
        // {ControllerType::KptAdmittance, "KeypointAdmittance"},
        // {ControllerType::KptImpedance, "KeypointImpedance"},
        {ControllerType::TSMPAdm, "TSMPAdm"},
        {ControllerType::TSMPImp, "TSMPImp"},
        {ControllerType::TSMPImpCol, "TSMPImpCol"},
        {ControllerType::TSMPMixImpVel, "TSMPMixImpVel"},
        {ControllerType::TSMPVel, "TSMPVel"},
        {ControllerType::TSMPMixImpVelCol, "TSMPMixImpVelCol"},
        {ControllerType::TSMPMixImpVelColWiping, "TSMPMixImpVelColWiping"},
        {ControllerType::TSMPVelWiping, "TSMPVelWiping"},
        // {ControllerType::KptAdmittanceMP, "KeypointAdmittanceMP"},
        // {ControllerType::KptImpedanceMP, "KeypointImpedanceMP"},
        // {ControllerType::KVILImpedanceMP, "KVILImpedanceMP"},
        // {ControllerType::BiKAC, "BiKAC"},
        {ControllerType::QPWholeBodyImpedance, "QPWholeBodyImpedance"},
        {ControllerType::QPWholeBodyVelocity, "QPWholeBodyVelocity"},
        {ControllerType::WholeBodyTrajectoryController, "WholeBodyTrajectoryController"}};
 
 
    inline const simox::meta::EnumNames<ControllerType> ControllerTypeNames{
        {ControllerType::TSAdm, "NJointTaskspaceAdmittanceController"},
        {ControllerType::TSImp, "NJointTaskspaceImpedanceController"},
        {ControllerType::TSImpCol, "NJointTaskspaceCollisionAvoidanceImpedanceController"},
        {ControllerType::TSMixImpVel, "NJointTaskspaceMixedImpedanceVelocityController"},
        {ControllerType::TSVel, "NJointTaskspaceVelocityController"},
        {ControllerType::TSMixImpVelCol,
         "NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController"},
        // {ControllerType::KptAdmittance, "NJointKeypointsAdmittanceController"},
        // {ControllerType::KptImpedance, "KeypointImpedance"},
        {ControllerType::TSMPAdm, "NJointTSAdmittanceMPController"},
        {ControllerType::TSMPImp, "NJointTSImpedanceMPController"},
        {ControllerType::TSMPImpCol, "NJointTSCollisionAvoidanceImpedanceMPController"},
        {ControllerType::TSMPMixImpVel, "NJointTSMixedImpedanceVelocityMPController"},
        {ControllerType::TSMPVel, "NJointTSVelocityMPController"},
        {ControllerType::TSMPMixImpVelCol, "NJointTSCollisionAvoidanceMixedImpedanceVelocityMP"},
        {ControllerType::TSMPMixImpVelColWiping, "NJointWipingMixImpVelColMPController"},
        {ControllerType::TSMPVelWiping, "NJointWipingVelMPController"},
        // {ControllerType::KptAdmittanceMP, "NJointKeypointsAdmittanceMPController"},
        // {ControllerType::KptImpedanceMP, "NJointKeypointsImpedanceMPController"},
        // {ControllerType::BiKAC, "NJointBiKAC"},
        // {ControllerType::KVILImpedanceMP, "NJointKVILImpedanceMPController"},
        {ControllerType::WholeBodyTrajectoryController, "NJointWholeBodyTrajectoryController"}};
 
} // namespace armarx::control::common