resource_helpers.h

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <list>
#include <map>
#include <string>
#include <vector>
 
#include <hardware_interface/controller_info.h>
 
#include <franka_hw/control_mode.h>
 
namespace franka_hw {
 
using ResourceWithClaimsMap = std::map<std::string, std::vector<std::vector<std::string>>>;
 
struct ResourceClaims {
  uint8_t joint_position_claims = 0;
  uint8_t joint_velocity_claims = 0;
  uint8_t joint_torque_claims = 0;
  uint8_t cartesian_velocity_claims = 0;
  uint8_t cartesian_pose_claims = 0;
};
 
using ArmClaimedMap = std::map<std::string, ResourceClaims>;
 
bool findArmIdInResourceId(const std::string& resource_id, std::string* arm_id);
 
ResourceWithClaimsMap getResourceMap(const std::list<hardware_interface::ControllerInfo>& info);
 
bool getArmClaimedMap(ResourceWithClaimsMap& resource_map, ArmClaimedMap& arm_claim_map);
 
ControlMode getControlMode(const std::string& arm_id, ArmClaimedMap& arm_claim_map);
 
bool hasConflictingMultiClaim(const ResourceWithClaimsMap& resource_map);
 
bool hasConflictingJointAndCartesianClaim(const ArmClaimedMap& arm_claim_map,
                                          const std::string& arm_id);
 
bool partiallyClaimsArmJoints(const ArmClaimedMap& arm_claim_map, const std::string& arm_id);
 
bool hasTrajectoryClaim(const ArmClaimedMap& arm_claim_map, const std::string& arm_id);
 
}  // namespace franka_hw