Program Listing for File interpolation_methods.hpp
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// Copyright (c) 2022 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
#include <string>
#include <unordered_map>
#include "rclcpp/rclcpp.hpp"
namespace joint_trajectory_controller
{
static const rclcpp::Logger LOGGER =
rclcpp::get_logger("joint_trajectory_controller.interpolation_methods");
namespace interpolation_methods
{
enum class InterpolationMethod
{
NONE,
VARIABLE_DEGREE_SPLINE
};
const InterpolationMethod DEFAULT_INTERPOLATION = InterpolationMethod::VARIABLE_DEGREE_SPLINE;
const std::unordered_map<InterpolationMethod, std::string> InterpolationMethodMap(
{{InterpolationMethod::NONE, "none"}, {InterpolationMethod::VARIABLE_DEGREE_SPLINE, "splines"}});
[[nodiscard]] inline InterpolationMethod from_string(const std::string & interpolation_method)
{
if (interpolation_method.compare(InterpolationMethodMap.at(InterpolationMethod::NONE)) == 0)
{
return InterpolationMethod::NONE;
}
else if (
interpolation_method.compare(
InterpolationMethodMap.at(InterpolationMethod::VARIABLE_DEGREE_SPLINE)) == 0)
{
return InterpolationMethod::VARIABLE_DEGREE_SPLINE;
}
// Default
else
{
RCLCPP_INFO_STREAM(
LOGGER,
"No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.");
return InterpolationMethod::VARIABLE_DEGREE_SPLINE;
}
}
} // namespace interpolation_methods
} // namespace joint_trajectory_controller
#endif // JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_