controller_verifier.h

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#pragma once
#include <franka_gazebo/joint.h>
#include <hardware_interface/controller_info.h>
#include <hardware_interface/interface_resources.h>
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <boost/optional.hpp>

namespace franka_gazebo {

class ControllerVerifier {
 public:
  ControllerVerifier(const std::map<std::string, std::shared_ptr<franka_gazebo::Joint>>& joints,
                     const std::string& arm_id);

  bool areArmJoints(const std::set<std::string>& resources) const;

  bool isValidController(const hardware_interface::ControllerInfo& controller) const;

  bool areFingerJoints(const std::set<std::string>& resources) const;

  bool isClaimingGripperController(const hardware_interface::ControllerInfo& info) const;

  bool isClaimingArmController(const hardware_interface::ControllerInfo& info) const;

  static boost::optional<ControlMethod> determineControlMethod(
      const std::string& hardware_interface);

 private:
  std::vector<std::string> joint_names_;
  std::string arm_id_;

  static bool hasControlMethodAndValidSize(const hardware_interface::InterfaceResources& resource);
};
}  // namespace franka_gazebo