towr_xpp_ee_map.h

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#ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_
#define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_

#include <map>
#include <towr/models/endeffector_mappings.h>
#include <xpp_states/endeffector_mappings.h>


namespace towr {

static std::map<towr::BipedIDs, xpp::biped::FootIDs> biped_to_xpp_id =
{
    {L, xpp::biped::L},
    {R, xpp::biped::R},
};

static std::map<towr::QuadrupedIDs, xpp::quad::FootIDs> quad_to_xpp_id =
{
    {LF, xpp::quad::LF},
    {RF, xpp::quad::RF},
    {LH, xpp::quad::LH},
    {RH, xpp::quad::RH}
};


static std::map<towr::BipedIDs, std::string> biped_to_name =
{
  {L, "Left" },
  {R, "Right"}
};

static std::map<towr::QuadrupedIDs, std::string> quad_to_name =
{
  {LF, "Left-Front" },
  {RF, "Right-Front"},
  {LH, "Left-Hind"  },
  {RH, "Right-Hind" }
};


static std::pair<xpp::EndeffectorID, std::string>
ToXppEndeffector(int number_of_ee, int towr_ee_id)
{
  std::pair<xpp::EndeffectorID, std::string> ee;

  switch (number_of_ee) {
    case 1:
      ee.first  = towr_ee_id;
      ee.second = "E0";
      break;
    case 2: {
      auto id = static_cast<towr::BipedIDs>(towr_ee_id);
      ee.first  = biped_to_xpp_id.at(id);
      ee.second = biped_to_name.at(id);
      break;
    }
    case 4: {
      auto id = static_cast<towr::QuadrupedIDs>(towr_ee_id);
      ee.first  = quad_to_xpp_id.at(id);
      ee.second = quad_to_name.at(id);
      break;
    }
    default:
      assert(false); // endeffector mapping not defined
      break;
  }

  return ee;
}

static xpp::StateLinXd ToXpp(const towr::State& towr)
{
  xpp::StateLinXd xpp(towr.p().rows());

  xpp.p_ = towr.p();
  xpp.v_ = towr.v();
  xpp.a_ = towr.a();

  return xpp;
}

} // namespace towr

#endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_ */