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Commit 5cfb8354 authored by Fabian Reister's avatar Fabian Reister
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aron conversions for traj ctrl

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source/Navigation/libraries/global_planning/aron_conversions.cpp
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...@@ -2,7 +2,11 @@ ...@@ -2,7 +2,11 @@
#include <RobotAPI/libraries/aron/common/aron_conversions.h> #include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <Navigation/libraries/global_planning/aron/GlobalPlannerParams.aron.generated.h> #include "Navigation/libraries/global_planning/GlobalPlanner.h"
#include "Navigation/libraries/global_planning/Point2Point.h"
#include "Navigation/libraries/global_planning/aron/GlobalPlannerParams.aron.generated.h"
#include "Navigation/libraries/global_planning/aron/Point2PointParams.aron.generated.h"
// #include "Navigation/libraries/global_planning/aron/AStarParams.aron.generated.h"
namespace armarx::nav::glob_plan::aron_conv namespace armarx::nav::glob_plan::aron_conv
{ {
......
source/Navigation/libraries/global_planning/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 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#pragma once namespace armarx::nav::glob_plan
{
struct GlobalPlanner;
struct Point2PointParams;
#include "Navigation/libraries/global_planning/GlobalPlanner.h" namespace arondto
#include "Navigation/libraries/global_planning/Point2Point.h" {
// #include "Navigation/libraries/global_planning/AStar.h" struct GlobalPlannerParams;
#include "Navigation/libraries/global_planning/aron/GlobalPlannerParams.aron.generated.h" struct Point2PointParams;
#include "Navigation/libraries/global_planning/aron/Point2PointParams.aron.generated.h" } // namespace aron
// #include "Navigation/libraries/global_planning/aron/AStarParams.aron.generated.h" } // namespace armarx::nav::glob_plan
namespace armarx::nav::glob_plan::aron_conv namespace armarx::nav::glob_plan::aron_conv
{ {
void toAron(arondto::GlobalPlannerParams& dto, const GlobalPlanner& bo); void toAron(arondto::GlobalPlannerParams& dto, const GlobalPlanner& bo);
void fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlanner& bo); void fromAron(const arondto::GlobalPlannerParams& dto, GlobalPlanner& bo);
void toAron(arondto::Point2PointParams& dto, const Point2PointParams& bo); void toAron(arondto::Point2PointParams& dto, const Point2PointParams& bo);
void fromAron(const arondto::Point2PointParams& dto, Point2PointParams& bo); void fromAron(const arondto::Point2PointParams& dto, Point2PointParams& bo);
} // namespace armarx::nav::glob_plan } // namespace armarx::nav::glob_plan::aron_conv
source/Navigation/libraries/trajectory_control/CMakeLists.txt
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set(LIB_NAME ${PROJECT_NAME}TrajectoryControl) set(LIB_NAME ${PROJECT_NAME}TrajectoryControl)
armarx_component_set_name("${LIB_NAME}") armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}") armarx_set_target("Library: ${LIB_NAME}")
armarx_add_library( armarx_add_library(
LIBS LIBS
ArmarXCoreInterfaces ArmarXCoreInterfaces
ArmarXCore ArmarXCore
RobotAPICore RobotAPICore
Navigation::Core Navigation::Core
SOURCES
SOURCES
./TrajectoryController.cpp ./TrajectoryController.cpp
./TrajectoryFollowingController.cpp ./TrajectoryFollowingController.cpp
./WaypointController.cpp ./WaypointController.cpp
HEADERS ./aron_conversions.cpp
HEADERS
./TrajectoryController.h ./TrajectoryController.h
./TrajectoryFollowingController.h ./TrajectoryFollowingController.h
./WaypointController.h ./WaypointController.h
./aron_conversions.h
)
add_library(
Navigation::TrajectoryControl
ALIAS
${PROJECT_NAME}TrajectoryControl
) )
add_library(Navigation::TrajectoryControl ALIAS ${PROJECT_NAME}TrajectoryControl) armarx_enable_aron_file_generation_for_target(
TARGET_NAME
"${LIB_NAME}"
ARON_FILES
aron/PIDParams.xml
aron/TrajectoryControllerParams.xml
aron/TrajectoryFollowingControllerParams.xml
aron/WaypointControllerParams.xml
# aron/AStarParams.xml
)
#find_package(MyLib QUIET) # find_package(MyLib QUIET) armarx_build_if(MyLib_FOUND "MyLib not available")
#armarx_build_if(MyLib_FOUND "MyLib not available") # all target_include_directories must be guarded by if(Xyz_FOUND) for multiple
# all target_include_directories must be guarded by if(Xyz_FOUND) # libraries write: if(X_FOUND AND Y_FOUND).... if(MyLib_FOUND)
# for multiple libraries write: if(X_FOUND AND Y_FOUND).... # target_include_directories(trajectory_control PUBLIC ${MyLib_INCLUDE_DIRS})
#if(MyLib_FOUND) # endif()
# target_include_directories(trajectory_control PUBLIC ${MyLib_INCLUDE_DIRS})
#endif()
# add unit tests # add unit tests
add_subdirectory(test) add_subdirectory(test)
source/Navigation/libraries/trajectory_control/aron/PIDParams.xml 0 → 100644
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<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<GenerateTypes>
<Object name='armarx::nav::traj_ctrl::arondto::PIDParams'>
<ObjectChild key='Kp'>
<float />
</ObjectChild>
<ObjectChild key='Ki'>
<float />
</ObjectChild>
<ObjectChild key='Kd'>
<float />
</ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
source/Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.xml 0 → 100644
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<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
<!-- <Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.aron.generated.h>" /> -->
</CodeIncludes>
<AronIncludes>
<!-- <Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.xml>" /> -->
</AronIncludes>
<GenerateTypes>
<!-- <Object name='armarx::nav::glob_plan::arondto::Point2PointParams' extends="armarx::nav::traj_ctrl::arondto::TrajectoryControllerParams"> -->
<Object name='armarx::nav::traj_ctrl::arondto::TrajectoryControllerParams'>
<!-- <ObjectChild key='includeStartPose'>
<bool />
</ObjectChild>
<ObjectChild key='velocity'>
<float />
</ObjectChild> -->
</Object>
</GenerateTypes>
</AronTypeDefinition>
source/Navigation/libraries/trajectory_control/aron/TrajectoryFollowingControllerParams.xml 0 → 100644
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<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
<Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.aron.generated.h>" />
<Include include="<Navigation/libraries/trajectory_control/aron/PIDParams.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
<Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.xml>" />
<Include include="<Navigation/libraries/trajectory_control/aron/PIDParams.xml>" />
</AronIncludes>
<GenerateTypes>
<!-- <Object name='armarx::nav::traj_ctrl::arondto::TrajectoryFollowingControllerParams' extends="armarx::nav::traj_ctrl::arondto::TrajectoryControllerParams"> -->
<Object name='armarx::nav::traj_ctrl::arondto::TrajectoryFollowingControllerParams'>
<ObjectChild key='pidPos'>
<armarx::nav::traj_ctrl::arondto::PIDParams />
</ObjectChild>
<ObjectChild key='pidOri'>
<armarx::nav::traj_ctrl::arondto::PIDParams />
</ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
source/Navigation/libraries/trajectory_control/aron/WaypointControllerParams.xml 0 → 100644
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<!--Some fancy comment -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
<Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
<Include include="<Navigation/libraries/trajectory_control/aron/TrajectoryControllerParams.xml>" />
</AronIncludes>
<GenerateTypes>
<!-- <Object name='armarx::nav::traj_ctrl::arondto::WaypointControllerParams' extends="armarx::nav::traj_ctrl::arondto::TrajectoryControllerParams"> -->
<Object name='armarx::nav::traj_ctrl::arondto::WaypointControllerParams'>
<ObjectChild key='includeStartPose'>
<bool />
</ObjectChild>
<ObjectChild key='velocity'>
<float />
</ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
source/Navigation/libraries/trajectory_control/aron_conversions.cpp 0 → 100644
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#include "aron_conversions.h"
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include "Navigation/libraries/trajectory_control/TrajectoryController.h"
#include "Navigation/libraries/trajectory_control/TrajectoryFollowingController.h"
#include "Navigation/libraries/trajectory_control/WaypointController.h"
namespace armarx::nav::traj_ctrl::aron_conv
{
void toAron(arondto::TrajectoryControllerParams& dto, const TrajectoryControllerParams& bo)
{
}
void fromAron(const arondto::TrajectoryControllerParams& dto, TrajectoryControllerParams& bo)
{
}
void toAron(arondto::TrajectoryFollowingControllerParams& dto, const TrajectoryFollowingControllerParams& bo)
{
}
void fromAron(const arondto::TrajectoryFollowingControllerParams& dto, TrajectoryFollowingControllerParams& bo)
{
}
void toAron(arondto::WaypointControllerParams& dto, const WaypointControllerParams& bo)
{
}
void fromAron(const arondto::WaypointControllerParams& dto, WaypointControllerParams& bo)
{
}
} // namespace armarx::nav::traj_ctrl::aron_conv
source/Navigation/libraries/trajectory_control/aron_conversions.h 0 → 100644
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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 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#pragma once
namespace armarx::nav::traj_ctrl
{
struct TrajectoryControllerParams;
struct TrajectoryFollowingControllerParams;
struct WaypointControllerParams;
namespace arondto
{
class TrajectoryControllerParams;
class TrajectoryFollowingControllerParams;
class WaypointControllerParams;
} // namespace arondto
} // namespace armarx::nav::traj_ctrl
namespace armarx::nav::traj_ctrl::aron_conv
{
void toAron(arondto::TrajectoryControllerParams& dto, const TrajectoryControllerParams& bo);
void fromAron(const arondto::TrajectoryControllerParams& dto, TrajectoryControllerParams& bo);
void toAron(arondto::TrajectoryFollowingControllerParams& dto, const TrajectoryFollowingControllerParams& bo);
void fromAron(const arondto::TrajectoryFollowingControllerParams& dto, TrajectoryFollowingControllerParams& bo);
void toAron(arondto::WaypointControllerParams& dto, const WaypointControllerParams& bo);
void fromAron(const arondto::WaypointControllerParams& dto, WaypointControllerParams& bo);
} // namespace armarx::nav::traj_ctrl::aron_conv
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