ORCA: Optimization-based framework for Robotic Control Applications
ResolutionStrategy.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
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36 
37 #pragma once
38 #include <iostream>
39 
40 namespace orca
41 {
42 namespace optim
43 {
44  enum class ResolutionStrategy
45  {
48  , Generalized
49  };
50 
52  {
53  if(rs == ResolutionStrategy::OneLevelWeighted) return "OneLevelWeighted";
54  if(rs == ResolutionStrategy::MultiLevelWeighted) return "MultiLevelWeighted";
55  if(rs == ResolutionStrategy::Generalized) return "Generalized";
56  return "Not supported";
57  }
58  inline ResolutionStrategy ResolutionStrategyFromString(const std::string& rs)
59  {
60  if(rs == "OneLevelWeighted") return ResolutionStrategy::OneLevelWeighted;
61  if(rs == "MultiLevelWeighted") return ResolutionStrategy::MultiLevelWeighted;
62  if(rs == "Generalized") return ResolutionStrategy::Generalized;
64  }
65  inline ::std::ostream& operator<<(::std::ostream& os, const ResolutionStrategy& rs)
66  {
68  return os;
69  }
70 } // namespace optim
71 } // namespace orca
72 
73 
ResolutionStrategy ResolutionStrategyFromString(const std::string &rs)
Definition: ResolutionStrategy.h:58
inline ::std::ostream & operator<<(::std::ostream &os, const ControlVariable &cv)
Definition: ControlVariable.h:78
std::string ResolutionStrategyToString(ResolutionStrategy rs)
Definition: ResolutionStrategy.h:51
ResolutionStrategy
Definition: ResolutionStrategy.h:44
Definition: CartesianAccelerationPID.h:44