CVehicleVelCmd.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/serialization/CArchive.h>

using namespace mrpt::kinematics;

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::config::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::config::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.)
{
}