CVehicleVelCmd.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "kinematics-precomp.h"  // Precompiled header
#include <mrpt/kinematics/CVehicleVelCmd.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::kinematics;
using namespace mrpt::utils;

IMPLEMENTS_VIRTUAL_SERIALIZABLE(CVehicleVelCmd, CSerializable, mrpt::kinematics)

CVehicleVelCmd::CVehicleVelCmd()
{
}
CVehicleVelCmd::CVehicleVelCmd(const CVehicleVelCmd &other)
{
        *this = other;
}

CVehicleVelCmd::~CVehicleVelCmd()
{
}

std::string mrpt::kinematics::CVehicleVelCmd::asString() const
{
        std::string s;
        s += "(";
        for (size_t i = 0; i < getVelCmdLength(); i++) {
                s += mrpt::format("%s=%.03f ", getVelCmdDescription(i).c_str(), getVelCmdElement(i));
        }
        s += ")";
        return s;
}

CVehicleVelCmd & CVehicleVelCmd::operator =(const CVehicleVelCmd &other)
{
        const size_t nThis = this->getVelCmdLength();
        ASSERTMSG_(typeid(*this) == typeid(other), "Trying to copy incompatible classes");
        for (size_t i = 0; i < nThis; i++)
                this->setVelCmdElement(i, other.getVelCmdElement(i) );
        return *this;
}

void CVehicleVelCmd::TVelCmdParams::loadConfigFile(const mrpt::utils::CConfigFileBase &cfg, const std::string &section)
{
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(robotMax_V_mps, double, cfg, section);
        MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(robotMax_W_degps, double, robotMax_W_radps, cfg, section);
        MRPT_LOAD_CONFIG_VAR(robotMinCurvRadius, double, cfg, section);
}

void CVehicleVelCmd::TVelCmdParams::saveToConfigFile(mrpt::utils::CConfigFileBase & c, const std::string & s) const
{
        MRPT_SAVE_CONFIG_VAR_COMMENT(robotMax_V_mps, "Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]");
        MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT("robotMax_W_degps",robotMax_W_radps, "Max. angular speed (deg/s) [Default=-1 (not set), will raise exception if needed and not set]");
        MRPT_SAVE_CONFIG_VAR_COMMENT(robotMinCurvRadius, "Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]");
}


CVehicleVelCmd::TVelCmdParams::TVelCmdParams() :
        robotMax_V_mps(-1.),
        robotMax_W_radps(-1.),
        robotMinCurvRadius(-1.)
{}