parameters.hpp

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/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/

#ifndef XBOT_PARAMETERS_HPP_
#define XBOT_PARAMETERS_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <string>

/*****************************************************************************
 ** Namespaces
 *****************************************************************************/

namespace xbot
{

/*****************************************************************************
 ** Interface
 *****************************************************************************/
class Parameters
{
public:
  Parameters() :
    base_port("/dev/xbot"),
    sensor_port("/dev/sensors"),
    sigslots_namespace("/xbot"),
    simulation(false),
    enable_acceleration_limiter(true),
    linear_acceleration_limit(0.3),
    linear_deceleration_limit(-0.3*1.2),
    angular_acceleration_limit(3.5),
    angular_deceleration_limit(-3.5*1.2)
  {
  } 
  std::string base_port;        
  std::string sensor_port;
  std::string sigslots_namespace;  
  bool simulation;                 
  bool enable_acceleration_limiter;
  double linear_acceleration_limit;
  double linear_deceleration_limit;
  double angular_acceleration_limit;
  double angular_deceleration_limit;

  bool validate()
  {
    // not doing anything right now -  delete it, if we can find a use case ...
    return true;
  }

  std::string error_msg; 
};

} // namespace xbot

#endif /* XBOT_PARAMETERS_HPP_ */