ControlParameters.h File Reference

Interface to set gains/control parameters for simulator and robot These are designed to be updated infrequently. For high frequency data, consider using Driver Inputs or adding to the Robot Debug Data instead. More...

#include <map>
#include <mutex>
#include <string>
#include "Utilities/utilities.h"
#include "cTypes.h"

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Classes
union	ControlParameterValuePtr
union	ControlParameterValue
class	ControlParameterCollection
class	ControlParameter
class	ControlParameters

Macros
#define	CONTROL_PARAMETER_MAXIMUM_NAME_LENGTH   64
#define	INIT_PARAMETER(name)   param_##name(#name, name, collection)
#define	DECLARE_PARAMETER(type, name)

Enumerations
enum	ControlParameterValueKind : u64 {   ControlParameterValueKind::FLOAT = 0, ControlParameterValueKind::DOUBLE = 1, ControlParameterValueKind::S64 = 2, ControlParameterValueKind::VEC3_DOUBLE = 3,   ControlParameterValueKind::VEC3_FLOAT = 4 }

Functions
ControlParameterValueKind	getControlParameterValueKindFromString (const std::string &str)
std::string	controlParameterValueKindToString (ControlParameterValueKind valueKind)
std::string	controlParameterValueToString (ControlParameterValue v, ControlParameterValueKind kind)

Detailed Description

Interface to set gains/control parameters for simulator and robot These are designed to be updated infrequently. For high frequency data, consider using Driver Inputs or adding to the Robot Debug Data instead.

ControlParameter: a single value, either a double, float, or s64. Each control parameter must have a unique name Control parameters know their type as well as if they've been initialized or not ControlParameters must be initialized, either from reading from a file, reading from LCM, or some other way (TODO consider supporting Vec3's?) All control parameters must go in a ControlParameters (for now, just robot settings and sim settings)

TODO - what should happen when this fails?

See test_ControlParameters for an example of how this works

Definition in file ControlParameters.h.

Macro Definition Documentation

#define CONTROL_PARAMETER_MAXIMUM_NAME_LENGTH   64

Definition at line 27 of file ControlParameters.h.

#define DECLARE_PARAMETER	(		type,
			name
	)

Value:

type name;                          \
  ControlParameter param_##name;

Definition at line 30 of file ControlParameters.h.

#define INIT_PARAMETER

(

name

)

param_##name(#name, name, collection)

Definition at line 29 of file ControlParameters.h.

Enumeration Type Documentation

enum ControlParameterValueKind : u64

strong

Enumerator
FLOAT
DOUBLE
S64
VEC3_DOUBLE
VEC3_FLOAT

Definition at line 34 of file ControlParameters.h.

                                     : u64 {
  FLOAT = 0,
  DOUBLE = 1,
  S64 = 2,
  VEC3_DOUBLE = 3,
  VEC3_FLOAT = 4
};

Function Documentation

std::string controlParameterValueKindToString

(

ControlParameterValueKind

valueKind

)

Definition at line 16 of file ControlParameters.cpp.

References DOUBLE, FLOAT, S64, VEC3_DOUBLE, and VEC3_FLOAT.

                                         {
  switch (valueKind) {
    case ControlParameterValueKind::S64:
      return "s64";
    case ControlParameterValueKind::DOUBLE:
      return "double";
    case ControlParameterValueKind::FLOAT:
      return "float";
    case ControlParameterValueKind::VEC3_DOUBLE:
      return "vec3d";
    case ControlParameterValueKind::VEC3_FLOAT:
      return "vec3f";
    default:
      return "unknown-ControlParameterValueKind";
  }
}

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std::string controlParameterValueToString	(	ControlParameterValue	v,
		ControlParameterValueKind	kind
	)

Definition at line 34 of file ControlParameters.cpp.

References ControlParameterValue::d, DOUBLE, ControlParameterValue::f, FLOAT, ControlParameterValue::i, numberToString(), S64, VEC3_DOUBLE, VEC3_FLOAT, ControlParameterValue::vec3d, and ControlParameterValue::vec3f.

                                                                          {
  std::string result;
  switch (kind) {
    case ControlParameterValueKind::DOUBLE:
      result += numberToString(value.d);
      break;
    case ControlParameterValueKind::FLOAT:
      result += numberToString(value.f);
      break;
    case ControlParameterValueKind::S64:
      result += std::to_string(value.i);
      break;
    case ControlParameterValueKind::VEC3_FLOAT:
      result += "[";
      result += numberToString(value.vec3f[0]) + ", ";
      result += numberToString(value.vec3f[1]) + ", ";
      result += numberToString(value.vec3f[2]) + "]";
      break;
    case ControlParameterValueKind::VEC3_DOUBLE:
      result += "[";
      result += numberToString(value.vec3d[0]) + ", ";
      result += numberToString(value.vec3d[1]) + ", ";
      result += numberToString(value.vec3d[2]) + "]";
      break;
    default:
      result += "<unknown type " + std::to_string((u32)(kind)) +
                "> (add it yourself in ControlParameterInterface.h!)";
      break;
  }
  return result;
}

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ControlParameterValueKind getControlParameterValueKindFromString

(

const std::string &

str

)

Definition at line 257 of file ControlParameters.cpp.

References DOUBLE, FLOAT, S64, VEC3_DOUBLE, and VEC3_FLOAT.

                                                                                       {
  if(str.find('[') != std::string::npos) {
    // vec type
    if(str.find('f') != std::string::npos) {
      return ControlParameterValueKind::VEC3_FLOAT;
    } else {
      return ControlParameterValueKind::VEC3_DOUBLE;
    }
  } else {
    // scalar type
    if(str.find('.') != std::string::npos) {
      if(str.find('f') != std::string::npos) {
        return ControlParameterValueKind::FLOAT;
      } else {
        return ControlParameterValueKind::DOUBLE;
      }
    } else {
      // integer
      return ControlParameterValueKind::S64;
    }
  }
}

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