utils.cpp

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#include "ros/console.h"
 
#include "industrial_utils/utils.h"
#include "industrial_robot_client/utils.h"
 
#include <cmath>
#include <iostream>
 
namespace industrial_robot_client
{
namespace utils
{
 
bool isWithinRange(const std::vector<double> & lhs, const std::vector<double> & rhs, double full_range)
{
  bool rtn = false;
 
  if (lhs.size() != rhs.size())
  {
    ROS_ERROR_STREAM(__FUNCTION__ << "::lhs size: " << lhs.size() << " does not match rhs size: " << rhs.size());
    rtn = false;
  }
  else
  {
    // Calculating the half range causes some precision loss, but it's good enough
    double half_range = full_range / 2.0;
    rtn = true; // Assume within range, catch exception in loop below
 
    // This loop will not run for empty vectors, results in return of true
    for (size_t i = 0; i < lhs.size(); ++i)
    {
      if (fabs(lhs[i] - rhs[i]) > fabs(half_range))
      {
        rtn = false;
        break;
      }
    }
 
  }
 
  return rtn;
}
 
bool mapInsert(const std::string & key, double value, std::map<std::string, double> & mappings)
{
  bool rtn = false;
 
  std::pair<std::map<std::string, double>::iterator, bool> insert_rtn;
 
  insert_rtn = mappings.insert(std::make_pair(key, value));
 
  // The second value returned form insert is a boolean (true for success)
  if (!insert_rtn.second)
  {
    ROS_ERROR_STREAM(__FUNCTION__ << "::Failed to insert item into map with key: " << key);
    rtn = false;
  }
  else
  {
    rtn = true;
  }
  return rtn;
 
}
 
bool toMap(const std::vector<std::string> & keys, const std::vector<double> & values,
           std::map<std::string, double> & mappings)
{
  bool rtn;
 
  mappings.clear();
 
  if (keys.size() == values.size())
  {
    rtn = true;
 
    for (size_t i = 0; i < keys.size(); ++i)
    {
      rtn = mapInsert(keys[i], values[i], mappings);
      if (!rtn)
      {
        break;
      }
    }
 
  }
  else
  {
    ROS_ERROR_STREAM(__FUNCTION__ << "::keys size: " << keys.size()
                     << " does not match values size: " << values.size());
 
    rtn = false;
  }
 
  return rtn;
}
 
bool isWithinRange(const std::vector<std::string> & keys, const std::map<std::string, double> & lhs,
                   const std::map<std::string, double> & rhs, double full_range)
{
  bool rtn = false;
 
  if ((keys.size() != rhs.size()) || (keys.size() != lhs.size()))
  {
    ROS_ERROR_STREAM(__FUNCTION__ << "::Size mistmatch ::lhs size: " << lhs.size() <<
                     " rhs size: " << rhs.size() << " key size: " << keys.size());
 
    rtn = false;
  }
  else
  {
    // Calculating the half range causes some precision loss, but it's good enough
    double half_range = full_range / 2.0;
    rtn = true; // Assume within range, catch exception in loop below
 
    // This loop will not run for empty vectors, results in return of true
    for (size_t i = 0; i < keys.size(); ++i)
    {
      if (fabs(lhs.at(keys[i]) - rhs.at(keys[i])) > fabs(half_range))
      {
        rtn = false;
        break;
      }
    }
 
  }
 
  return rtn;
}
 
bool isWithinRange(const std::vector<std::string> & lhs_keys, const std::vector<double> & lhs_values,
                   const std::vector<std::string> & rhs_keys, const std::vector<double> & rhs_values, double full_range)
{
  bool rtn = false;
  std::map<std::string, double> lhs_map;
  std::map<std::string, double> rhs_map;
  if (industrial_utils::isSimilar(lhs_keys, rhs_keys))
  {
    if (toMap(lhs_keys, lhs_values, lhs_map) && toMap(rhs_keys, rhs_values, rhs_map))
    {
      rtn = isWithinRange(lhs_keys, lhs_map, rhs_map, full_range);
    }
  }
  else
  {
    ROS_ERROR_STREAM(__FUNCTION__ << "::Key vectors are not similar");
    rtn = false;
  }
  return rtn;
}
 
} //utils
} //industrial_robot_client