VehicleDifferential_ControllerRaw.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mvsim/VehicleDynamics/VehicleDifferential.h>
// #include <mvsim/World.h>
// #include <rapidxml.hpp>

using namespace mvsim;
using namespace std;

// See base class docs
void DynamicsDifferential::ControllerRawForces::control_step(
        [[maybe_unused]] const DynamicsDifferential::TControllerInput& ci,
        DynamicsDifferential::TControllerOutput& co)
{
        co.wheel_torque_l = this->setpoint_wheel_torque_l;
        co.wheel_torque_r = this->setpoint_wheel_torque_r;
}

void DynamicsDifferential::ControllerRawForces::teleop_interface(
        const TeleopInput& in, TeleopOutput& out)
{
        ControllerBase::teleop_interface(in, out);

        const double dt = setpoint_teleop_steps;

        switch (in.keycode)
        {
                case 'W':
                case 'w':
                        setpoint_wheel_torque_l -= dt;
                        setpoint_wheel_torque_r -= dt;
                        break;

                case 'S':
                case 's':
                        setpoint_wheel_torque_l += dt;
                        setpoint_wheel_torque_r += dt;
                        break;

                case 'A':
                case 'a':
                        setpoint_wheel_torque_l += dt;
                        setpoint_wheel_torque_r -= dt;
                        break;

                case 'D':
                case 'd':
                        setpoint_wheel_torque_l -= dt;
                        setpoint_wheel_torque_r += dt;
                        break;

                case ' ':
                        setpoint_wheel_torque_l = setpoint_wheel_torque_r = 0.0;
                        break;
        };
        out.append_gui_lines += "[Controller=" + string(class_name()) +
                                                        "] Teleop keys:\n"
                                                        "w/s=incr/decr both torques.\n"
                                                        "a/d=left/right. spacebar=stop.\n";
        out.append_gui_lines += mrpt::format(
                "setpoint: tl=%.03f tr=%.03f deg\n", setpoint_wheel_torque_l,
                setpoint_wheel_torque_r);
}