aron_conversions.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/>.
 *
 * @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 <type_traits>
 
#include <SimoxUtility/json/json.hpp>
 
#include "RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReaderWithoutTypeCheck.h"
 
#include <armarx/control/common/control_law/KeypointsImpedanceController.h>
#include <armarx/control/common/control_law/SafetyTaskspaceImpedanceController.h>
#include <armarx/control/common/control_law/TaskspaceAdmittanceController.h>
#include <armarx/control/common/control_law/TaskspaceImpedanceController.h>
#include <armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.h>
#include <armarx/control/common/control_law/aron/KeypointControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/SafetyTaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceMixedImpedanceVelocityControllerConfig.aron.generated.h>
#include <armarx/control/common/ft/FTSensor.h>
#include <armarx/control/common/ft/aron/FTConfig.aron.generated.h>
#include <armarx/control/common/mp/MP.h>
#include <armarx/control/common/mp/aron/MPConfig.aron.generated.h>
 
namespace armarx
{
    template <typename AronType, typename T>
    T
    fromAronDict(const ::armarx::aron::data::dto::DictPtr& dto)
    {
        static_assert(
            std::is_base_of<armarx::aron::codegenerator::cpp::AronGeneratedClass, AronType>::value,
            "AronType must be an ARON generated type");
 
        const auto dtoConfig = AronType::FromAron(dto);
 
        T config;
        fromAron(dtoConfig, config);
 
        return config;
    }
 
    template <typename T, typename BOType>
    ::armarx::aron::data::dto::DictPtr
    toAronDict(const BOType& bo)
    {
        T aronDTO;
        toAron(aronDTO, bo);
 
        return aronDTO.toAronDTO();
    }
 
    template <typename AronDTO>
    AronDTO
    readFromJson(const std::filesystem::path& filename)
    {
        ARMARX_CHECK(std::filesystem::is_regular_file(filename)) << filename;
 
        ARMARX_INFO << "Loading config from file `" << filename << "`.";
        std::ifstream ifs{filename};
 
        nlohmann::json jsonConfig;
        ifs >> jsonConfig;
        auto dto = AronDTO();
 
        armarx::aron::data::reader::NlohmannJSONReaderWithoutTypeCheck reader;
        dto.read(reader, jsonConfig);
        return dto;
    }
 
    template <typename AronDTO, typename BO>
    BO
    readFromJson(const std::filesystem::path& filename)
    {
        auto dto = readFromJson<AronDTO>(filename);
        BO bo;
        fromAron(dto, bo);
        return bo;
    }
} // namespace armarx
 
namespace armarx::control::common::ft
{
    //    void fromAron(const arondto::FTConfig& dto, FTSensor::FTConfig& bo);
    //    void toAron(arondto::FTConfig& dto, const FTSensor::FTConfig& bo);
} // namespace armarx::control::common::ft
 
namespace armarx::control::common::control_law
{
 
    /// TaskspaceImpedanceController
    //    /// dto: data transfer object; bo: business object
    //    void fromAron(const arondto::TaskspaceImpedanceControllerConfig& dto,
    //                  TaskspaceImpedanceController::Config& bo);
    //    void toAron(arondto::TaskspaceImpedanceControllerConfig& dto,
    //                const TaskspaceImpedanceController::Config& bo);
 
    //    void fromAron(const arondto::TaskspaceImpedanceControllerConfigDict& dto,
    //                  TaskspaceImpedanceController::ConfigDict& bo);
    //    void toAron(arondto::TaskspaceImpedanceControllerConfigDict& dto,
    //                const TaskspaceImpedanceController::ConfigDict& bo);
 
    // /// TaskspaceMixedImpedanceVelocityController
    // void fromAron(const arondto::TaskspaceMixedImpedanceVelocityControllerConfig& dto,
    //               TaskspaceMixedImpedanceVelocityController::Config& bo);
    // void toAron(arondto::TaskspaceMixedImpedanceVelocityControllerConfig& dto,
    //             const TaskspaceMixedImpedanceVelocityController::Config& bo);
    //
    // void fromAron(const arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict& dto,
    //               TaskspaceMixedImpedanceVelocityController::ConfigDict& bo);
    // void toAron(arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict& dto,
    //             const TaskspaceMixedImpedanceVelocityController::ConfigDict& bo);
    //
    // /// TaskspaceAdmittanceController
    // void fromAron(const arondto::TaskspaceAdmittanceControllerConfig& dto,
    //               TaskspaceAdmittanceController::Config& bo);
    // void toAron(arondto::TaskspaceAdmittanceControllerConfig& dto,
    //             const TaskspaceAdmittanceController::Config& bo);
    //
    // void fromAron(const arondto::TaskspaceAdmittanceControllerConfigDict& dto,
    //               TaskspaceAdmittanceController::ConfigDict& bo);
    // void toAron(arondto::TaskspaceAdmittanceControllerConfigDict& dto,
    //             const TaskspaceAdmittanceController::ConfigDict& bo);
    //
    // void fromAron(const arondto::KeypointControllerConfig& dto,
    //               KeypointsImpedanceController::Config& bo);
    // void toAron(arondto::KeypointControllerConfig& dto,
    //             const KeypointsImpedanceController::Config& bo);
 
} // namespace armarx::control::common::control_law
 
namespace armarx::control::common::mp
{
    //    /// ListViaPoint
    //    void fromAron(const arondto::ListViaPoint& dto, MP::ListViaPoint& bo);
    //    void toAron(arondto::ListViaPoint& dto, const MP::ListViaPoint& bo);
    //    void fromAron(const arondto::DictViaPoint& dto, MP::DictViaPoint& bo);
 
    //    /// MPConfig
    //    void fromAron(const arondto::MPConfig& dto, MP::MPConfig& bo);
    //    void toAron(arondto::MPConfig& dto, const MP::MPConfig& bo);
 
    //    /// MPTraj
    //    void fromAron(const arondto::MPTraj& dto, MPTraj& bo);
    //    void toAron(arondto::MPTraj& dto, const MPTraj& bo);
 
    //    //    void fromAron(const arondto::MPTrajs& dto, MPTrajs& bo);
    //    //    void toAron(arondto::MPTrajs& dto, const MPTrajs& bo);
 
    //    //    void fromAron(const arondto::MultiMPTrajs& dto, MultiMPTrajs& bo);
    //    //    void toAron(arondto::MultiMPTrajs& dto, const MultiMPTrajs& bo);
 
    //    /// MPListConfig
    //    void fromAron(const arondto::MPListConfig& dto, MP::MPListConfig& bo);
    //    void toAron(arondto::MPListConfig& dto, const MP::MPListConfig& bo);
} // namespace armarx::control::common::mp