ControllerConfiguration.h

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#pragma once
 
 
// armarx
#include <ArmarXCore/core/rapidxml/wrapper/DefaultRapidXmlReader.h>
 
#include <armarx/control/hardware_config/Config.h>
 
namespace armarx::control::joint_controller
{
 
    class PositionControllerConfiguration;
    using PositionControllerConfigurationPtr = std::shared_ptr<PositionControllerConfiguration>;
 
    class PositionControllerConfiguration
    {
    public:
        PositionControllerConfiguration()
        {
        }
 
        static PositionControllerConfigurationPtr
        CreatePositionControllerConfigData(hardware_config::Config& config);
        float maxVelocityRad;
        float maxAccelerationRad;
        float maxDecelerationRad;
        float p;
        float accuracy;
        bool useElmoRelativePositionController = false;
    };
 
 
    class VelocityControllerConfiguration;
    using VelocityControllerConfigurationPtr = std::shared_ptr<VelocityControllerConfiguration>;
 
    class VelocityControllerConfiguration
    {
    public:
        VelocityControllerConfiguration()
        {
        }
 
        static VelocityControllerConfigurationPtr
        CreateVelocityControllerConfigData(hardware_config::Config& config);
        float maxVelocityRad;
        float maxAccelerationRad;
        float maxDecelerationRad;
    };
 
 
    class HolonomicPlatformControllerConfiguration;
    using HolonomicPlatformControllerConfigurationPtr =
        std::shared_ptr<HolonomicPlatformControllerConfiguration>;
 
    class HolonomicPlatformControllerConfiguration
    {
    public:
        HolonomicPlatformControllerConfiguration()
        {
        }
 
        static HolonomicPlatformControllerConfigurationPtr
        CreateHolonomicPlatformControllerConfigData(hardware_config::Config& config);
        float maxVelocity;
        float maxAcceleration;
        float maxDeceleration;
        float maxAngularVelocity;
        float maxAngularAcceleration;
        float maxAngularDeceleration;
    };
 
} // namespace armarx::control::joint_controller