added basic structure and implementation for the new controller setup

source/RobotAPI/interface/CMakeLists.txt

@@ -35,10 +35,11 @@ set(SLICE_FILES
     units/UnitInterface.ice
     units/ATINetFTUnit.ice
 
-
     components/ViewSelectionInterface.ice
 
     visualization/DebugDrawerInterface.ice
+
+    libraries/Controllers/LVL1Controller.ice
 )
     #core/RobotIK.ice
 

source/RobotAPI/interface/libraries/Controllers/LVL1Controller.ice

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::LVL1ControllerInterface
+ * @author     Raphael Grimm ( raphael dot grimm at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+module armarx
+{
+    class LVL1ControllerConfig
+    {
+    };
+
+    class LVL1ControllerInterface
+    {
+
+    };
+};

source/RobotAPI/libraries/CMakeLists.txt

 add_subdirectory(core)
 add_subdirectory(widgets)
-
+add_subdirectory(Controllers)

source/RobotAPI/libraries/Controllers/CMakeLists.txt

+armarx_component_set_name("Controllers")
+armarx_set_target("Library: Controllers")
+
+set(LIB_NAME       Controllers)
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(LIBS
+	ArmarXCoreInterfaces 
+	ArmarXCore
+        RobotAPIInterfaces
+)
+
+set(LIB_FILES
+    SyntaxCheck.cpp
+
+    LVL0Controller.cpp
+    LVL1Controller.cpp
+)
+set(LIB_HEADERS
+    Constatnts.h
+
+    Targets/JointTargetBase.h
+    Targets/JointPositionTarget.h
+    Targets/JointVelocityTarget.h
+    Targets/JointPositionVelocityTarget.h
+    Targets/JointTorqueTarget.h
+
+    DataUnits/ForceTorqueDataUnit.h
+    DataUnits/HapticDataUnit.h
+    DataUnits/IMUDataUnit.h
+    DataUnits/KinematicDataUnit.h
+    DataUnits/PlatformDataUnit.h
+
+    LVL0Controller.h
+    LVL1Controller.h
+)
+
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+

source/RobotAPI/libraries/Controllers/Constatnts.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_ControllerConstatns_H
+#define _ARMARX_LIB_RobotAPI_ControllerConstatns_H
+
+#include <cmath>
+#include <string>
+
+namespace armarx
+{
+    namespace ControllerConstatns
+    {
+        const float ValueNotSetNaN = std::nanf(std::to_string((1 << 16) - 1).c_str());
+    }
+}
+
+#endif

source/RobotAPI/libraries/Controllers/DataUnits/ForceTorqueDataUnit.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::ForceTorqueDataUnit
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_ForceTorqueDataUnit_H
+#define _ARMARX_LIB_RobotAPI_ForceTorqueDataUnit_H
+
+namespace armarx
+{
+    class ForceTorqueDataUnit
+    {
+
+    };
+}
+
+#endif

source/RobotAPI/libraries/Controllers/DataUnits/HapticDataUnit.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::HapticDataUnit
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_HapticDataUnit_H
+#define _ARMARX_LIB_RobotAPI_HapticDataUnit_H
+
+namespace armarx
+{
+    class HapticDataUnit
+    {
+
+    };
+}
+
+#endif

source/RobotAPI/libraries/Controllers/DataUnits/IMUDataUnit.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::IMUDataUnit
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_IMUDataUnit_H
+#define _ARMARX_LIB_RobotAPI_IMUDataUnit_H
+
+namespace armarx
+{
+    class IMUDataUnit
+    {
+
+    };
+}
+
+#endif

source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::KinematicDataUnit
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_KinematicDataUnit_H
+#define _ARMARX_LIB_RobotAPI_KinematicDataUnit_H
+
+#include <vector>
+#include <string>
+#include <unordered_map>
+#include <algorithm>
+
+#include "../Constatnts.h"
+
+namespace armarx
+{
+    class KinematicDataUnit
+    {
+        template<class T>
+        static std::unordered_map<T, std::size_t> toInexMap(const std::vector<T>& vec)
+        {
+            std::unordered_map<T, std::size_t> result;
+            result.reserve(vec.size());
+            for (std::size_t i = 0; i < vec.size(); ++i)
+            {
+                auto emplacement = result.emplace(vec.at(i), i).second;
+                if (!emplacement)
+                {
+                    throw std::invalid_argument {"The given vector did not contain unique elements!"};
+                }
+            }
+            return result;
+        }
+
+    public:
+        KinematicDataUnit(const std::vector<std::string>& jointNames):
+            jointAngles(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointVelocites(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointTorques(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointCurrents(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointMotorTemperatures(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointGearTempertures(jointNames.size(), ControllerConstatns::ValueNotSetNaN),
+            jointNames {jointNames},
+                   jointIndices {toInexMap(jointNames)}
+        {}
+        KinematicDataUnit() = default;
+        KinematicDataUnit(const KinematicDataUnit&) = default;
+
+        const std::vector<std::string>& getJointNames() const
+        {
+            return jointNames;
+        }
+        std::size_t getJointIndex(const std::string& joint) const
+        {
+            return jointIndices.at(joint);
+        }
+
+        virtual std::vector<const float*> getJointAngles(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointAngles);
+        }
+        virtual std::vector<const float*> getJointVelocities(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointVelocites);
+        }
+        virtual std::vector<const float*> getJointTorques(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointTorques);
+        }
+        virtual std::vector<const float*> getJointCurrents(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointCurrents);
+        }
+        virtual std::vector<const float*> getJointMotorTemperatures(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointMotorTemperatures);
+        }
+        virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointGearTempertures);
+        }
+
+    protected:
+        std::vector<float> jointAngles;
+        std::vector<float> jointVelocites;
+        std::vector<float> jointTorques;
+        std::vector<float> jointCurrents;
+        std::vector<float> jointMotorTemperatures;
+        std::vector<float> jointGearTempertures;
+    private:
+        template<class T>
+        std::vector<const T*> getPointers(const std::vector<std::string>& joints, const std::vector<T>& targets) const
+        {
+            std::vector<const T*> result;
+            result.resize(joints.size());
+            std::transform(
+                joints.begin(), joints.end(), std::back_inserter(result),
+                [targets, this](const std::string & joint)
+            {
+                return &targets.at(getJointIndex(joint));
+            }
+            );
+            return result;
+        }
+        const std::vector<std::string> jointNames;
+        const std::unordered_map<std::string, std::size_t> jointIndices;
+    };
+}
+
+#endif

source/RobotAPI/libraries/Controllers/DataUnits/PlatformDataUnit.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::PlatformDataUnit
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_PlatformDataUnit_H
+#define _ARMARX_LIB_RobotAPI_PlatformDataUnit_H
+
+#include "../Constatnts.h"
+
+namespace armarx
+{
+    class PlatformDataUnit
+    {
+    public:
+        const float* getPositionX() const
+        {
+            return &positionX;
+        }
+        const float* getPositionY() const
+        {
+            return &positionY;
+        }
+        const float* getRotation() const
+        {
+            return &rotation;
+        }
+
+        const float* getVelocityX() const
+        {
+            return &velocityX;
+        }
+        const float* getVelocityY() const
+        {
+            return &velocityY;
+        }
+        const float* getVelocityRotation() const
+        {
+            return &velocityRotation;
+        }
+    protected:
+        float positionX = ControllerConstatns::ValueNotSetNaN;
+        float positionY = ControllerConstatns::ValueNotSetNaN;
+        float rotation = ControllerConstatns::ValueNotSetNaN;
+
+        float velocityX = ControllerConstatns::ValueNotSetNaN;
+        float velocityY = ControllerConstatns::ValueNotSetNaN;
+        float velocityRotation = ControllerConstatns::ValueNotSetNaN;
+    };
+}
+
+#endif

source/RobotAPI/libraries/Controllers/LVL0Controller.cpp

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::LVL0Controller
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "LVL0Controller.h"
+
+
+using namespace armarx;
+
+

source/RobotAPI/libraries/Controllers/LVL0Controller.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::LVL0Controller
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_LVL0Controller_H
+#define _ARMARX_LIB_RobotAPI_LVL0Controller_H
+
+#include <stdexcept>
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class LVL0Controller
+    * @ingroup Library-Controllers
+    * @brief Brief description of class LVL0Controller.
+    *
+    * Detailed description of class LVL0Controller.
+    */
+    template<class TargetT>
+    class LVL0Controller
+    {
+    public:
+        using TargetType = TargetT;
+        LVL0Controller()
+        {
+            resetTarget();
+        }
+
+        TargetType* getTarget()
+        {
+            return target;
+        }
+
+        void resetTarget()
+        {
+            target.reset();
+        }
+
+        void run()
+        {
+            if (!target.valid())
+            {
+                throw std::logic_error {"LVL0 Controller failed! Target is invalid"};
+            }
+            writeTarget();
+            resetTarget();
+        }
+
+        /**
+         * @brief This function needs to be implemented for a LVL0Controller.
+         * It sends the command to the robot (or writes it in its send buffer).
+         */
+        void writeTarget() = 0;
+
+    private:
+        TargetType target;
+    };
+}
+#endif

source/RobotAPI/libraries/Controllers/LVL1Controller.cpp

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::LVL1Controller
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "LVL1Controller.h"
+
+
+using namespace armarx;
+
+

source/RobotAPI/libraries/Controllers/LVL1Controller.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::LVL1Controller
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_LVL1Controller_H
+#define _ARMARX_LIB_RobotAPI_LVL1Controller_H
+
+#include <map>
+
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+#include "Targets/JointTargetBase.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class LVL1Controller
+    * @ingroup Library-Controllers
+    * @brief Brief description of class LVL1Controller.
+    *
+    * Detailed description of class LVL1Controller.
+    */
+    class LVL1Controller
+    {
+    public:
+        LVL1Controller(/*string instanceName, RobotUnitPtr robotUnit, ControllerConfig config*/);
+        virtual void run() = 0;
+        virtual std::map<std::string, ControlMode> getJointTargetDefinitions() = 0;
+        virtual void setJointTargetPtrs(std::vector<JointTargetBase*> ptrs) = 0;
+    };
+
+}
+
+#endif

source/RobotAPI/libraries/Controllers/SyntaxCheck.cpp

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "Constatnts.h"
+#include "LVL0Controller.h"
+#include "LVL1Controller.h"
+
+#include "DataUnits/ForceTorqueDataUnit.h"
+#include "DataUnits/HapticDataUnit.h"
+#include "DataUnits/IMUDataUnit.h"
+#include "DataUnits/KinematicDataUnit.h"
+#include "DataUnits/PlatformDataUnit.h"
+
+#include "Targets/JointPositionTarget.h"
+#include "Targets/JointPositionVelocityTarget.h"
+#include "Targets/JointTargetBase.h"
+#include "Targets/JointTorqueTarget.h"
+#include "Targets/JointVelocityTarget.h"

source/RobotAPI/libraries/Controllers/Targets/JointPositionTarget.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::JointPositionTarget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_JointPositionTarget_H
+#define _ARMARX_LIB_RobotAPI_JointPositionTarget_H
+
+#include "JointTargetBase.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class JointPositionTarget
+    * @ingroup Library-Controllers
+    * @brief Brief description of class JointPositionTarget.
+    *
+    * Detailed description of class JointPositionTarget.
+    */
+    class JointPositionTarget: public JointTargetBase
+    {
+    public:
+        float position = ControllerConstatns::ValueNotSetNaN;
+        virtual ControlMode getType() const override
+        {
+            return ePositionControl;
+        }
+        virtual void reset()
+        {
+            position = ControllerConstatns::ValueNotSetNaN;
+        }
+        bool isValid() const
+        {
+            return std::isfinite(position);
+        }
+    };
+
+}
+
+#endif

source/RobotAPI/libraries/Controllers/Targets/JointPositionVelocityTarget.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::JointPositionVelocityTarget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_JointPositionVelocityTarget_H
+#define _ARMARX_LIB_RobotAPI_JointPositionVelocityTarget_H
+
+#include "JointTargetBase.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class JointPositionVelocityTarget
+    * @ingroup Library-Controllers
+    * @brief Brief description of class JointPositionVelocityTarget.
+    *
+    * Detailed description of class JointPositionVelocityTarget.
+    */
+    class JointPositionVelocityTarget: public JointTargetBase
+    {
+    public:
+        float position = ControllerConstatns::ValueNotSetNaN;
+        float velocity = ControllerConstatns::ValueNotSetNaN;
+        virtual ControlMode getType() const override
+        {
+            return ePositionVelocityControl;
+        }
+        virtual void reset()
+        {
+            position = ControllerConstatns::ValueNotSetNaN;
+            velocity = ControllerConstatns::ValueNotSetNaN;
+        }
+        bool isValid() const
+        {
+            return std::isfinite(position) && std::isfinite(velocity);
+        }
+    };
+
+}
+
+#endif

source/RobotAPI/libraries/Controllers/Targets/JointTargetBase.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::JointTargetBase
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_JointTargetBase_H
+#define _ARMARX_LIB_RobotAPI_JointTargetBase_H
+
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+#include "../Constatnts.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class JointTargetBase
+    * @ingroup Library-Controllers
+    * @brief Brief description of class JointTargetBase.
+    *
+    * Detailed description of class JointTargetBase.
+    */
+    class JointTargetBase
+    {
+    public:
+        virtual ControlMode getType() const = 0;
+    };
+
+}
+
+#endif

source/RobotAPI/libraries/Controllers/Targets/JointTorqueTarget.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::JointTorqueTarget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_JointTorqueTarget_H
+#define _ARMARX_LIB_RobotAPI_JointTorqueTarget_H
+
+#include "JointTargetBase.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class JointTorqueTarget
+    * @ingroup Library-Controllers
+    * @brief Brief description of class JointTorqueTarget.
+    *
+    * Detailed description of class JointTorqueTarget.
+    */
+    class JointTorqueTarget: public JointTargetBase
+    {
+    public:
+        float torque = ControllerConstatns::ValueNotSetNaN;
+        virtual ControlMode getType() const override
+        {
+            return eTorqueControl;
+        }
+        virtual void reset()
+        {
+            torque = ControllerConstatns::ValueNotSetNaN;
+        }
+        bool isValid() const
+        {
+            return std::isfinite(torque);
+        }
+    };
+
+}
+
+#endif

source/RobotAPI/libraries/Controllers/Targets/JointVelocityTarget.h

+/*
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::JointVelocityTarget
+ * @author     Raphael ( ufdrv at student dot kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_LIB_RobotAPI_JointVelocityTarget_H
+#define _ARMARX_LIB_RobotAPI_JointVelocityTarget_H
+
+#include "JointTargetBase.h"
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-Controllers Controllers
+    * @ingroup RobotAPI
+    * A description of the library Controllers.
+    *
+    * @class JointVelocityTarget
+    * @ingroup Library-Controllers
+    * @brief Brief description of class JointVelocityTarget.
+    *
+    * Detailed description of class JointVelocityTarget.
+    */
+    class JointVelocityTarget: public JointTargetBase
+    {
+    public:
+        float velocity = ControllerConstatns::ValueNotSetNaN;
+        virtual ControlMode getType() const override
+        {
+            return eVelocityControl;
+        }
+        virtual void reset()
+        {
+            velocity = ControllerConstatns::ValueNotSetNaN;
+        }
+        bool isValid() const
+        {
+            return std::isfinite(velocity);
+        }
+    };
+
+}
+
+#endif