halfsteps_pattern_generator: yaml.hh Source File

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00001 #ifndef HALFSTEPS_PATTERN_YAML_HH
00002 # define HALFSTEPS_PATTERN_YAML_HH
00003 # include <utility>
00004 # include <walk_interfaces/pattern-generator.hh>
00005 # include <walk_interfaces/yaml.hh>
00006 
00007 # include <halfsteps_pattern_generator.hh>
00008 
00009 namespace walk
00010 {
00011   inline YAML::Emitter&
00012   operator<< (YAML::Emitter& out,
00013               const HalfStepsPatternGenerator::footprint_t& footprint)
00014   {
00015     out << YAML::BeginMap
00016         << YAML::Key << "beginTime"
00017         << YAML::Value
00018         << to_iso_string (footprint.beginTime)
00019         << YAML::Key << "duration"
00020         << YAML::Value
00021         << (0. + footprint.duration.total_nanoseconds () / 1e9)
00022         << YAML::Key << "position"
00023         << YAML::Value << footprint.position
00024         << YAML::Key << "slide-up"
00025         << YAML::Value
00026         << footprint.slideUp
00027         << YAML::Key << "slide-down"
00028         << YAML::Value
00029         << footprint.slideDown
00030         << YAML::Key << "horizontal-distance"
00031         << YAML::Value
00032         << footprint.horizontalDistance
00033         << YAML::Key << "step-height"
00034         << YAML::Value
00035         << footprint.stepHeight
00036         << YAML::EndMap;
00037     return out;
00038   }
00039 
00040   inline YAML::Emitter&
00041   operator<< (YAML::Emitter& out,
00042               const WALK_INTERFACES_EIGEN_STL_VECTOR
00043               (HalfStepsPatternGenerator::footprint_t)& footprints)
00044   {
00045     out << YAML::BeginSeq;
00046     typedef HalfStepsPatternGenerator::footprint_t a_t;
00047     BOOST_FOREACH (const a_t& footprint, footprints)
00048       out << footprint;
00049     out << YAML::EndSeq;
00050     return out;
00051   }
00052 
00053   inline void
00054   operator>> (const YAML::Node& node,
00055               HalfStepsPatternGenerator::footprint_t& footprint)
00056   {
00057     checkYamlType (node, YAML::NodeType::Map, "footprint");
00058 
00059     using namespace boost::posix_time;
00060     using namespace boost::gregorian;
00061 
00062     std::string beginTimeStr;
00063     node["beginTime"] >> beginTimeStr;
00064     footprint.beginTime = walk::Time (from_iso_string (beginTimeStr));
00065     double d = 0;
00066     node["duration"] >> d;
00067     footprint.duration = milliseconds (d * 1e3);
00068     node["position"] >> footprint.position;
00069 
00070     node["slide-up"] >> footprint.slideUp;
00071     node["slide-down"] >> footprint.slideDown;
00072     node["horizontal-distance"] >> footprint.horizontalDistance;
00073     node["step-height"] >> footprint.stepHeight;
00074   }
00075 
00076 } // end of namespace walk.
00077 
00078 #endif //! HALFSTEPS_PATTERN_YAML_HH