aron_conversions.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 <type_traits>
 
#include <armarx/control/common/control_law/TaskspaceImpedanceController.h>
#include <armarx/control/common/control_law/TaskspaceAdmittanceController.h>
#include <armarx/control/common/control_law/KeypointsImpedanceController.h>
#include <armarx/control/common/mp/MP.h>
#include <armarx/control/common/ft/FTSensor.h>
 
#include <armarx/control/common/control_law/aron/TaskspaceImpedanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/TaskspaceAdmittanceControllerConfig.aron.generated.h>
#include <armarx/control/common/control_law/aron/KeypointControllerConfig.aron.generated.h>
#include <armarx/control/common/mp/aron/MPConfig.aron.generated.h>
#include <armarx/control/common/ft/aron/FTConfig.aron.generated.h>
 
namespace armarx
{
    template <typename AronType, typename T>
    T
    fromAron(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;
    }
}  // namespace armarx
 
 
namespace armarx::control::common::ft
{
 
    void fromAron(const arondto::FTConfig& dto,
                  FTSensor::FTConfig& bo);
} // namespace armarx::control::common::ft
 
 
namespace armarx::control::common::control_law
{
 
    /// TaskspaceImpedanceController
    /// dto: data transfer object? bo: business object? what is the full name?
    void fromAron(const arondto::TaskspaceImpedanceControllerConfig& dto,
                  TaskspaceImpedanceController::Config& bo);
 
    void fromAron(const arondto::TaskspaceAdmittanceControllerConfig& dto,
                  TaskspaceAdmittanceController::Config& bo);
 
    void fromAron(const arondto::KeypointControllerConfig& dto,
                  KeypointsImpedanceController::Config& bo);
 
}  // namespace armarx::control::common::control_law
 
 
namespace armarx::control::common::mp
{
    MP::ListViaPoint fromAron(const arondto::ListViaPoint& dto);
    MP::DictViaPoint fromAron(const arondto::DictViaPoint& dto);
    void fromAron(const arondto::ListViaPoint &dto, MP::ListViaPoint &bo);
    void fromAron(const arondto::DictViaPoint &dto, MP::DictViaPoint &bo);
    void fromAron(const arondto::MPConfig& dto, MP::MPConfig& bo);
    void fromAron(const arondto::MPListConfig &dto, MP::MPListConfig &bo);
} // namespace armarx::control::common::mp