SVHHomeSettings.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-


// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef SVHHOMESETTINGS_H
#define SVHHOMESETTINGS_H

namespace driver_svh {

struct SVHHomeSettings
{
  int   direction;
  float minimumOffset;
  float maximumOffset;
  float idlePosition;
  float rangeRad;
  float resetCurrentFactor;

  SVHHomeSettings():
    direction(+1),
    minimumOffset(0.0),
    maximumOffset(0.0),
    idlePosition(0.0),
    rangeRad(0.0),
    resetCurrentFactor(0.5)
  {}

  SVHHomeSettings(const int &direction_,const float &minimumOffset_,const float &maximumOffset_,const float &idlePosition_,const float &rangeRad_,const float &resetCurrentFactor_):
    minimumOffset(minimumOffset_),
    maximumOffset(maximumOffset_),
    idlePosition(idlePosition_),
    rangeRad(rangeRad_),
    resetCurrentFactor(resetCurrentFactor_)
  {
    // Limit the direction to just contain a factor rather than any multipliers
    direction = direction_ < 0 ? -1 : +1;
    // Limit the resetCurrentFactor to allowed bounds
    resetCurrentFactor = std::max(std::min(resetCurrentFactor,1.0f),0.0f);

  }

  SVHHomeSettings(const std::vector<float> & home_settings)
  {
    // maybe not the most beautifull way but it works.
    size_t size = home_settings.size();
    float temp_direction = 0.0;

    temp_direction = (size > 0) ? home_settings[0] : 0.0;
    direction = temp_direction < 0.0 ? -1 : +1;

    minimumOffset = (size > 1) ? home_settings[1] : 0.0;
    maximumOffset = (size > 2) ? home_settings[2] : 0.0;
    idlePosition  = (size > 3) ? home_settings[3] : 0.0;
    rangeRad  = (size > 4)     ? home_settings[4] : 0.0;
    resetCurrentFactor = (size >5) ? home_settings[5] : 0.5;

    // Limit the resetCurrentFactor to allowed bounds
    resetCurrentFactor = std::max(std::min(resetCurrentFactor,1.0f),0.0f);
  }

};


inline std::ostream& operator << (std::ostream& o, const SVHHomeSettings& hs)
{
  o << "Direction " << hs.direction << " "
    << "Min offset " << hs.minimumOffset << " "
    << "Max offset "<< hs.maximumOffset << " "
    << "idle pos "  << hs.idlePosition  << " "
    << "Range Rad " << hs.rangeRad << " "
    << "Reset Curr Factor " << hs.resetCurrentFactor << " "
    << std::endl;
  return o;
}


}


#endif // SVHHOMESETTINGS_H