ControllerManager.hpp

/*
    Copyright (c) Tobias Löw
    Written by Tobias Löw <https://tobiloew.ch>
 
    This file is part of orwell.
 
    gafro is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3 as
    published by the Free Software Foundation.
 
    gafro 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 gafro. If not, see <http://www.gnu.org/licenses/>.
*/
 
#pragma once
 
#include <orwell/ReferenceController.hpp>
#include <orwell/position/PositionController.hpp>
#include <orwell/torque/TorqueController.hpp>
#include <orwell/velocity/VelocityController.hpp>
 
namespace orwell
{
 
    template <int dof>
    class ControllerManager : private TorqueController<dof>::SharedGroup,
                              private VelocityController<dof>::SharedGroup,
                              private PositionController<dof>::SharedGroup
    {
      public:
        ControllerManager(const sackmesser::Interface::Ptr &interface, const typename RobotModel<dof>::Ptr &robot_model,
                          const std::string &name = "controller_manager");
 
        virtual ~ControllerManager();
 
        typename TorqueController<dof>::Ptr getTorqueController(const std::string &name);
 
        typename VelocityController<dof>::Ptr getVelocityController(const std::string &name);
 
        typename PositionController<dof>::Ptr getPositionController(const std::string &name);
 
      protected:
      private:
        typename RobotModel<dof>::Ptr robot_model_;
    };
 
}  // namespace orwell
 
#include <orwell/ControllerManager.hxx>