SVHPositionSettings.h

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//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Library.
//
// The Schunk SVH Library is free software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with
// the Schunk SVH Library. If not, see <https://www.gnu.org/licenses/>.
//

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef SVHPOSITIONSETTINGS_H
#define SVHPOSITIONSETTINGS_H

#include <schunk_svh_library/serial/ByteOrderConversion.h>

namespace driver_svh {

struct SVHPositionSettings
{
public:
  float wmn;
  float wmx;
  float dwmx;
  float ky;
  float dt;
  float imn;
  float imx;
  float kp;
  float ki;
  float kd;

  bool operator==(const SVHPositionSettings& other) const
  {
    return (wmn == other.wmn && wmx == other.wmx && dwmx == other.dwmx && ky == other.ky &&
            dt == other.dt && imn == other.imn && imx == other.imx && kp == other.kp &&
            ki == other.ki && kd == other.kd);
  }

  SVHPositionSettings(const std::vector<float>& pos_settings)
  {
    size_t size = pos_settings.size();

    wmn  = (size > 0) ? pos_settings[0] : 0.0f;
    wmx  = (size > 1) ? pos_settings[1] : 0.0f;
    dwmx = (size > 2) ? pos_settings[2] : 0.0f;
    ky   = (size > 3) ? pos_settings[3] : 0.0f;
    dt   = (size > 4) ? pos_settings[4] : 0.0f;
    imn  = (size > 5) ? pos_settings[5] : 0.0f;
    imx  = (size > 6) ? pos_settings[6] : 0.0f;
    kp   = (size > 7) ? pos_settings[7] : 0.0f;
    ki   = (size > 8) ? pos_settings[8] : 0.0f;
    kd   = (size > 9) ? pos_settings[9] : 0.0f;
  }


  SVHPositionSettings(const float& wmn,
                      const float& wmx,
                      const float& dwmx,
                      const float& ky,
                      const float& dt,
                      const float& imn,
                      const float& imx,
                      const float& kp,
                      const float& ki,
                      const float& kd)
    : wmn(wmn)
    , wmx(wmx)
    , dwmx(dwmx)
    , ky(ky)
    , dt(dt)
    , imn(imn)
    , imx(imx)
    , kp(kp)
    , ki(ki)
    , kd(kd)
  {
  }

  SVHPositionSettings()
    : wmn(0.0)
    , wmx(0.0)
    , dwmx(0.0)
    , ky(0.0)
    , dt(0.0)
    , imn(0.0)
    , imx(0.0)
    , kp(0.0)
    , ki(0.0)
    , kd(0.0)
  {
  }
};

inline driver_svh::ArrayBuilder& operator<<(driver_svh::ArrayBuilder& ab,
                                            const SVHPositionSettings& data)
{
  ab << data.wmn << data.wmx << data.dwmx << data.ky << data.dt << data.imn << data.imx << data.kp
     << data.ki << data.kd;
  return ab;
}

inline driver_svh::ArrayBuilder& operator>>(driver_svh::ArrayBuilder& ab, SVHPositionSettings& data)
{
  ab >> data.wmn >> data.wmx >> data.dwmx >> data.ky >> data.dt >> data.imn >> data.imx >>
    data.kp >> data.ki >> data.kd;
  return ab;
}

inline std::ostream& operator<<(std::ostream& o, const SVHPositionSettings& ps)
{
  o << "wmn " << ps.wmn << " "
    << "wmx " << ps.wmx << " "
    << "dwmx " << ps.dwmx << " "
    << "ky " << ps.ky << " "
    << "dt " << ps.dt << " "
    << "imn " << ps.imn << " "
    << "imx " << ps.imx << " "
    << "kp " << ps.kp << " "
    << "ki " << ps.ki << " "
    << "kd " << ps.kd << " " << std::endl;
  return o;
}


} // namespace driver_svh

#endif // SVHPOSITIONSETTINGS_H