Program Listing for File SVHPositionSettings.h
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//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Library.
//
// The Schunk SVH Library is free software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with
// the Schunk SVH Library. If not, see <https://www.gnu.org/licenses/>.
//
//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef SVHPOSITIONSETTINGS_H
#define SVHPOSITIONSETTINGS_H
#include <schunk_svh_library/serial/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] : 0.0f;
wmx = (size > 1) ? pos_settings[1] : 0.0f;
dwmx = (size > 2) ? pos_settings[2] : 0.0f;
ky = (size > 3) ? pos_settings[3] : 0.0f;
dt = (size > 4) ? pos_settings[4] : 0.0f;
imn = (size > 5) ? pos_settings[5] : 0.0f;
imx = (size > 6) ? pos_settings[6] : 0.0f;
kp = (size > 7) ? pos_settings[7] : 0.0f;
ki = (size > 8) ? pos_settings[8] : 0.0f;
kd = (size > 9) ? pos_settings[9] : 0.0f;
}
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 driver_svh::ArrayBuilder& operator<<(driver_svh::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 driver_svh::ArrayBuilder& operator>>(driver_svh::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;
}
} // namespace driver_svh
#endif // SVHPOSITIONSETTINGS_H