SVHPositionSettings.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 SVHPOSITIONSETTINGS_H
#define SVHPOSITIONSETTINGS_H

#include <icl_comm/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] : 0.0;
    wmx = (size > 1) ? pos_settings[1] : 0.0;
    dwmx = (size > 2) ? pos_settings[2] : 0.0;
    ky  = (size > 3) ? pos_settings[3] : 0.0;
    dt  = (size > 4) ? pos_settings[4] : 0.0;
    imn = (size > 5) ? pos_settings[5] : 0.0;
    imx = (size > 6) ? pos_settings[6] : 0.0;
    kp  = (size > 7) ? pos_settings[7] : 0.0;
    ki  = (size > 8) ? pos_settings[8] : 0.0;
    kd  = (size > 9) ? pos_settings[9] : 0.0;
  }



  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 icl_comm::ArrayBuilder& operator << (icl_comm::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 icl_comm::ArrayBuilder& operator >> (icl_comm::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;
}





}

#endif // SVHPOSITIONSETTINGS_H