darwin_teleop_alg.cpp

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#include "darwin_teleop_alg.h"

DarwinTeleopAlgorithm::DarwinTeleopAlgorithm(void)
{
}

DarwinTeleopAlgorithm::~DarwinTeleopAlgorithm(void)
{
}

void DarwinTeleopAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// DarwinTeleopAlgorithm Public API
bool DarwinTeleopAlgorithm::check_pressed_button_callback(const std::vector<int> & buttons, std::vector<unsigned int> & index)
{
  if (buttons.size() == 0)
    return false;

  bool new_data = false;
  for (unsigned int i=0; i<buttons.size(); i++)
  {
    if (buttons[i] != 0)
    {
      new_data = true;
      index.push_back(i);
    }
  }

  return new_data;
}

bool DarwinTeleopAlgorithm::compareIndexVectors(const std::vector<unsigned int> & a, const std::vector<unsigned int> & b)
{
  if( a.size() != b.size() )
    return false;

  return std::equal(a.begin(), a.end(), b.begin());;
}