ControlAspect.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>

#include <boost/shared_ptr.hpp>

namespace rci {

class ControlAspect;
typedef boost::shared_ptr<ControlAspect> ControlAspectPtr;

class ControlAspect {

public:

    ControlAspect(const std::string &name, const std::string &ID);

    virtual ~ControlAspect();

    std::string getID() const;

    std::string getName() const;

    bool equals(const ControlAspectPtr &mode) const;

    bool operator<(const ControlAspectPtr &compare);

    static ControlAspectPtr create(const std::string &name,
            const std::string &ID);

    std::string print() const;

protected:
    std::string name;

    std::string ID;

private:

    ControlAspect(const ControlAspect& ControlAspect);
};

//bool operator<(const ControlAspectPtr &source, const ControlAspectPtr &compare) {
//return (source->getID() < compare->getID());
//}

static ControlAspectPtr noControl = ControlAspect::create(
        "Inactive / no Control", "NO_CONTROL");

static ControlAspectPtr poseControl = ControlAspect::create(
        "Cartesian Pose Control", "POSE_CONTROL");

static const ControlAspectPtr forceControl = ControlAspect::create(
        "Cartesian Force Control", "FORCE_CONTROL");

static const ControlAspectPtr jointPositionControl = ControlAspect::create(
        "Joint Position Control", "POSITION_CONTROL");

/* Compliance */

static const ControlAspectPtr jointComplianceControl = ControlAspect::create(
        "Joint Compliance Control", "ACTIVE_JOINT_COMPLIANCE");

static const ControlAspectPtr cartesianComplianceControl =
        ControlAspect::create("Cartesian Compliance Control",
                "ACTIVE_CARTESIAN_COMPLIANCE");

static const ControlAspectPtr jointVelocityControl = ControlAspect::create(
        "Joint Velocity Control", "VELOCITY_CONTROL");

static const ControlAspectPtr jointTorqueControl = ControlAspect::create(
        "Joint Torque Control", "TORQUE_CONTROL");
}