ORCA: Optimization-based framework for Robotic Control Applications
ControlVariable.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)
5 //|
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 ControlVariable
45  {
46  X
52  , JointTorque
55  , Composite
56  , None
57  };
58 
59  static std::string ControlVariableToString(const ControlVariable& cv)
60  {
61  switch (cv)
62  {
63  case ControlVariable::X : return "X";
64  case ControlVariable::GeneralisedAcceleration : return "GeneralisedAcceleration";
65  case ControlVariable::FloatingBaseAcceleration : return "FloatingBaseAcceleration";
66  case ControlVariable::JointAcceleration : return "JointAcceleration";
67  case ControlVariable::GeneralisedTorque : return "GeneralisedTorque";
68  case ControlVariable::FloatingBaseWrench : return "FloatingBaseWrench";
69  case ControlVariable::JointTorque : return "JointTorque";
70  case ControlVariable::ExternalWrench : return "ExternalWrench";
71  case ControlVariable::ExternalWrenches : return "ExternalWrenches";
72  case ControlVariable::Composite : return "Composite";
73  case ControlVariable::None : return "None";
74  default: return "ERROR";
75  }
76  }
77 
78  inline ::std::ostream& operator<<(::std::ostream& os, const ControlVariable& cv)
79  {
80  return os << ControlVariableToString(cv);
81  }
82 
83 } // namespace optim
84 } // namespace orca
85 
86 
inline ::std::ostream & operator<<(::std::ostream &os, const ControlVariable &cv)
Definition: ControlVariable.h:78
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44
static std::string ControlVariableToString(const ControlVariable &cv)
Definition: ControlVariable.h:59