type.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     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
namespace armarx::control::common
{
 
    enum class ControllerType
    {
        // ----------- NjointControllers -----------
        TSAdmittance,
        TSImpedance,
        TSMixedImpedanceVelocity,
        // TSBiImpedance,
        // KptAdmittance,
        // KptImpedance,
        // ----------- NJointMPControllers -----------
        TSAdmittanceMP,
        TSImpedanceMP,
        TSMixedImpedanceVelocityMP,
        // TSBiImpedanceMP,
        // KptAdmittanceMP,
        // KptImpedanceMP,
        // KVILImpedanceMP,
        // BiKAC,
        QPWholeBodyImpedance,
        QPWholeBodyVelocity,
        WholeBodyTrajectoryController
    };
 
    inline const simox::meta::EnumNames<ControllerType> ControllerTypeShort{
        {ControllerType::TSAdmittance, "TSAdmittance"},
        {ControllerType::TSImpedance, "TSImpedance"},
        {ControllerType::TSMixedImpedanceVelocity, "TSMixedImpedanceVelocity"},
        // {ControllerType::TSBiImpedance, "TSBiImpedance"},
        // {ControllerType::KptAdmittance, "KeypointAdmittance"},
        // {ControllerType::KptImpedance, "KeypointImpedance"},
        {ControllerType::TSAdmittanceMP, "TSAdmittanceMP"},
        {ControllerType::TSImpedanceMP, "TSImpedanceMP"},
        {ControllerType::TSMixedImpedanceVelocityMP, "TSMixedImpedanceVelocityMP"},
        // {ControllerType::TSBiImpedanceMP, "TSBiImpedanceMP"},
        // {ControllerType::KptAdmittanceMP, "KeypointAdmittanceMP"},
        // {ControllerType::KptImpedanceMP, "KeypointImpedanceMP"},
        // {ControllerType::KVILImpedanceMP, "KVILImpedanceMP"},
        // {ControllerType::BiKAC, "BiKAC"},
        {ControllerType::QPWholeBodyImpedance, "QPWholeBodyImpedance"},
        {ControllerType::QPWholeBodyVelocity, "QPWholeBodyVelocity"},
        {ControllerType::WholeBodyTrajectoryController, "WholeBodyTrajectoryController"}};
 
 
    inline const simox::meta::EnumNames<ControllerType> ControllerTypeNames{
        {ControllerType::TSAdmittance, "NJointTaskspaceAdmittanceController"},
        {ControllerType::TSImpedance, "NJointTaskspaceImpedanceController"},
        {ControllerType::TSMixedImpedanceVelocity,
         "NJointTaskspaceMixedImpedanceVelocityController"},
        // {ControllerType::TSBiImpedance, "NJointTaskspaceBimanualImpedanceController"},
        // {ControllerType::KptAdmittance, "NJointKeypointsAdmittanceController"},
        // {ControllerType::KptImpedance, "KeypointImpedance"},
        {ControllerType::TSAdmittanceMP, "NJointTSAdmittanceMPController"},
        {ControllerType::TSImpedanceMP, "NJointTSImpedanceMPController"},
        {ControllerType::TSMixedImpedanceVelocityMP, "NJointTSMixedImpedanceVelocityMP"},
        // {ControllerType::TSBiImpedanceMP, "NJointTSBimanualImpedanceMPController"},
        // {ControllerType::KptAdmittanceMP, "NJointKeypointsAdmittanceMPController"},
        // {ControllerType::KptImpedanceMP, "NJointKeypointsImpedanceMPController"},
        // {ControllerType::BiKAC, "NJointBiKAC"},
        // {ControllerType::KVILImpedanceMP, "NJointKVILImpedanceMPController"},
        {ControllerType::WholeBodyTrajectoryController, "NJointWholeBodyTrajectoryController"}};
 
} // namespace armarx::control::common