ControlParameters.cpp 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 "ControlParameters/ControlParameters.h"
#include "INIReader.h"
#include "ParamHandler.hpp"
#include "Utilities/utilities.h"
#include <utility>

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Macros
#define	YAML_COLLECTION_NAME_KEY   "__collection-name__"

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

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.

Definition in file ControlParameters.cpp.

Macro Definition Documentation

#define YAML_COLLECTION_NAME_KEY   "__collection-name__"

Definition at line 14 of file ControlParameters.cpp.

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	value,
		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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