ControllerInterface.ice

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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/>.
 *
 * @package    RobotControllers::RobotNJointControllersInterface
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
 
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
#include <armarx/control/common/mp/MPPoolInterface.ice>
#include <armarx/control/interface/ConfigurableNJointControllerInterface.ice>
#include <armarx/control/njoint_controller/task_space/ControllerInterface.ice>
 
 
module armarx
{
    module control
    {
        //    class KeypointMPControllerConfig extends NJointTaskspaceAdmittanceControllerConfig
        //    {
        //        // dmp configuration
        //        int numKeypoints;
        //        string controlParamJsonFile = "";
        //
        //        float keypointKp;
        //        float keypointKi;
        //        float keypointKd;
        //        float maxControlValue;
        //        float maxDerivation;
        //        float filterCoeff;
        //        bool isRigid;
        //        Eigen::VectorXf pointCtrlMask;
        //        Eigen::VectorXf initialKeypointPosition;
        //    };
 
 
        //    interface KeypointMPControllerInterface extends NJointTaskspaceAdmittanceControllerInterface, MPPoolInterface
        //    {
        //        void setKeypoints(Eigen::VectorXf xyz);
        //        void resetKeypoints(int n_points, float keypoint_stiffness, bool is_rigid, Eigen::VectorXf ctrl_mask, Eigen::VectorXf init_keypoints_position);
        //        void toggleMP(bool enableMP);
        //    };
 
        interface NJointTSAdmittanceMPControllerInterface extends
            NJointTaskspaceAdmittanceControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSImpedanceMPControllerInterface extends
            NJointTaskspaceImpedanceControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSCollisionAvoidanceImpedanceMPControllerInterface extends
            NJointTaskspaceCollisionAvoidanceImpedanceControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSSafetyImpedanceMPControllerInterface extends
            NJointTaskspaceSafetyImpedanceControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSMixedImpedanceVelocityMPControllerInterface extends
            NJointTaskspaceMixedImpedanceVelocityControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSVelocityMPControllerInterface extends
            NJointTaskspaceVelocityControllerInterface,
            MPPoolInterface{};
 
        interface NJointTSCollisionAvoidanceMixedImpedanceVelocityMPControllerInterface extends
            NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityControllerInterface,
            MPPoolInterface{};
 
        interface NJointWipingMixImpVelColMPControllerInterface extends
            NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityControllerInterface,
            MPPoolInterface
        {
            void updateAdaptiveConfig(armarx::aron::data::dto::Dict config);
        };
 
        interface NJointWipingVelMPControllerInterface extends
            NJointTaskspaceVelocityControllerInterface,
            MPPoolInterface
        {
            void updateAdaptiveConfig(armarx::aron::data::dto::Dict config);
        };
 
        //    interface NJointKeypointsAdmittanceMPControllerInterface extends NJointKeypointsAdmittanceControllerInterface, MPPoolInterface
        //    {};
 
        //    interface NJointKeypointsImpedanceMPControllerInterface extends NJointKeypointsImpedanceControllerInterface, MPPoolInterface
        //    {};
 
        interface NJointKVILImpedanceMPControllerInterface extends
            NJointKeypointsImpedanceControllerInterface,
            MPPoolInterface
        {
            void setCurveProjection(
                Eigen::Vector3f curve_proj_point, float proj_value, Eigen::Vector3f curve_vec);
            Eigen::Vector3f getCurveKeypointPosition();
        };
 
        interface NJointBiKACInterface extends NJointTaskspaceImpedanceControllerInterface,
            MPPoolInterface
        {
            void updateBiKACConfig(armarx::aron::data::dto::Dict config);
            armarx::aron::data::dto::Dict getBiKACConfig();
        };
    }; /// control
}; /// armarx