ParallelController.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/Controller.hpp>
 
namespace orwell
{
 
    template <int dof>
    class ControllerManager;
 
    template <int dof>
    class TorqueController;
 
    template <int dof>
    class VelocityController;
 
    template <int dof, template <int> class DerivedController>
    class ParallelController : public DerivedController<dof>, private DerivedController<dof>::SharedGroup
    {
      public:
        ParallelController(const sackmesser::Interface::Ptr &interface, const std::string &name);
 
        virtual ~ParallelController();
 
        Eigen::Vector<double, dof> computeCommand();
 
      private:
        std::vector<std::shared_ptr<DerivedController<dof>>> controllers_;
    };
 
    template <int dof>
    using ParallelTorqueController = ParallelController<7, TorqueController>;
 
    template <int dof>
    using ParallelVelocityController = ParallelController<7, VelocityController>;
 
}  // namespace orwell
 
#include <orwell/ParallelController.hxx>
//
#include <orwell/torque/TorqueController.hpp>
#include <orwell/velocity/VelocityController.hpp>
 
REGISTER_CLASS(orwell::TorqueController<7>, orwell::ParallelTorqueController<7>, "parallel_controller")
// REGISTER_CLASS(orwell::VelocityController<7>, orwell::ParallelVelocityController<7>, "parallel_controller")