KeypointsAdmittanceController.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       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <armarx/control/common/mps/KeypointsMP.h>
#include <armarx/control/common/mps/MPPool.h>
#include <armarx/control/njoint_controller/task_space/KeypointsAdmittanceController.h>
//#include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
 
 
namespace armarx::control::njoint_mp_controller::task_space
{
    using namespace armarx::control::njoint_controller::task_space;
    using namespace armarx::control::common;
    /**
    * @defgroup Library-NJointKeypointsAdmittanceMPController NJointKeypointsAdmittanceMPController
    * @ingroup Library-RobotUnit-NJointControllers
    * A description of the library NJointKeypointsAdmittanceMPController.
    *
    * @class NJointKeypointsAdmittanceMPController
    * @ingroup Library-NJointKeypointsAdmittanceMPController
    * @brief Brief description of class NJointKeypointsAdmittanceMPController.
    *
    * Detailed description of class NJointKeypointsAdmittanceMPController.
    */
    class NJointKeypointsAdmittanceMPController :
            virtual public NJointKeypointsAdmittanceController
            , virtual public mp::MPPool
//            , virtual public NJointKeypointsAdmittanceMPControllerInterface
    {
    public:
        NJointKeypointsAdmittanceMPController(const RobotUnitPtr& robotUnit, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
 
        std::string getClassName(const Ice::Current&) const override;
        void reconfigureController(const std::string &filename, const Ice::Current &) override;
        void rtPreActivateController() override;
        void additionalTask() override;
    };
}