active_control.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <franka/active_control_base.h>
#include <franka/exception.h>
 
#include "robot.h"
 
namespace franka {
 
class ActiveControl : public ActiveControlBase {
 public:
  ~ActiveControl() override;
 
  std::pair<RobotState, Duration> readOnce() override;
 
  void writeOnce(const Torques& /* control_input */) override {
    throw franka::ControlException(wrong_write_once_method_called);
  };
 
  void writeOnce(const JointPositions& /* motion_generator_input */,
                 const std::optional<const Torques>& /*control_input*/) override {
    throw franka::ControlException(wrong_write_once_method_called);
  };
 
  void writeOnce(const JointVelocities& /* motion_generator_input */,
                 const std::optional<const Torques>& /* control_input */) override {
    throw franka::ControlException(wrong_write_once_method_called);
  };
 
  void writeOnce(const CartesianPose& /* motion_generator_input */,
                 const std::optional<const Torques>& /* control_input */) override {
    throw franka::ControlException(wrong_write_once_method_called);
  };
 
  void writeOnce(const CartesianVelocities& /* motion_generator_input */,
                 const std::optional<const Torques>& /* control_input */) override {
    throw franka::ControlException(wrong_write_once_method_called);
  };
 
  void writeOnce(const JointPositions& motion_generator_input) override {
    writeOnce(motion_generator_input, std::optional<const Torques>());
  };
 
  void writeOnce(const JointVelocities& motion_generator_input) override {
    writeOnce(motion_generator_input, std::optional<const Torques>());
  };
 
  void writeOnce(const CartesianPose& motion_generator_input) override {
    writeOnce(motion_generator_input, std::optional<const Torques>());
  };
 
  void writeOnce(const CartesianVelocities& motion_generator_input) override {
    writeOnce(motion_generator_input, std::optional<const Torques>());
  };
 
 protected:
  ActiveControl(std::shared_ptr<Robot::Impl> robot_impl,
                uint32_t motion_id,
                std::unique_lock<std::mutex> control_lock);
 
  std::shared_ptr<Robot::Impl> robot_impl;
 
  uint32_t motion_id;
 
  std::unique_lock<std::mutex> control_lock;
 
  bool control_finished;
 
  std::optional<Duration> last_read_access;
 
 private:
  const std::string wrong_write_once_method_called{
      "Wrong writeOnce method called for currently active control!"};
};
 
}  // namespace franka