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     Fabian Reister ( fabian dot reister 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/client/ControllerDescription.h>
#include <armarx/navigation/common/controller_types.h>
#include <armarx/navigation/platform_controller/PlatformGlobalTrajectoryController.h>
#include <armarx/navigation/platform_controller/PlatformLocalTrajectoryController.h>
#include <armarx/navigation/platform_controller/aron/PlatformGlobalTrajectoryControllerConfig.aron.generated.h>
#include <armarx/navigation/platform_controller/aron/PlatformLocalTrajectoryControllerConfig.aron.generated.h>
 
namespace armarx::control::client
{
    template <>
    struct ControllerDescription<armarx::navigation::common::ControllerType::PlatformGlobalTrajectory>
    {
        using AronDTO =
            armarx::navigation::platform_controller::platform_global_trajectory::arondto::Config;
 
        using BO = armarx::navigation::platform_controller::platform_global_trajectory::Config;
 
        // constexpr static const char* name = armarx::navigation::common::ControllerTypeNames.to_name(armarx::navigation::common::ControllerType::PlatformTrajectory);
        constexpr static const char* name =
            armarx::navigation::common::PlatformGlobalTrajectoryControllerName;
    };
 
    template <>
    struct ControllerDescription<armarx::navigation::common::ControllerType::PlatformLocalTrajectory>
    {
        using AronDTO =
            armarx::navigation::platform_controller::platform_local_trajectory::arondto::Config;
 
        using BO = armarx::navigation::platform_controller::platform_local_trajectory::Config;
 
        // constexpr static const char* name = armarx::navigation::common::ControllerTypeNames.to_name(armarx::navigation::common::ControllerType::PlatformTrajectory);
        constexpr static const char* name =
            armarx::navigation::common::PlatformLocalTrajectoryControllerName;
    };
 
} // namespace armarx::control::client