TPIKDefines.h

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#ifndef __TPIKDEFINES_H__
#define __TPIKDEFINES_H__
 
//#include <ctrl_toolbox/HelperFunctions.h>
#include <eigen3/Eigen/Dense>
#include <libconfig.h++>
#include <memory>
#include "ConfHelpers.h"
 
namespace tpik {
struct BellShapedParameter {
    Eigen::VectorXd xmin; 
    Eigen::VectorXd xmax; 
    friend std::ostream& operator<<(std::ostream& os, BellShapedParameter const& bellShape)
    {
        return os << "\033[1;37m"
                  << "xmin \n"
                  << "\033[0m" << bellShape.xmin << "\n"
                  << "\033[1;37m"
                  << "xmax \n"
                  << "\033[0m" << bellShape.xmax;
    }
 
    template <typename T>
    bool ConfigureFromFile(T& confObj) noexcept(false)
    {
        if (!GetParamVector(confObj, xmin, "xmin")) {
            return false;
        }
        if (!GetParamVector(confObj, xmax, "xmax")) {
            return false;
        }
 
        return true;
    }
};
 
struct TaskParameter {
    bool taskEnable = false; 
    
    double gain = 0.0; 
    double conf_gain = 0.0;  
 
    double saturation = 0.0; 
    double conf_saturation = 0.0;  
 
    friend std::ostream& operator<<(std::ostream& os, TaskParameter const& taskParam)
    {
        return os << "\033[1;37m"
                  << "taskEnable \n"
                  << "\033[0m" << taskParam.taskEnable << "\n"<< "\033[1;37m"
                  << "gain \n"
                  << "\033[0m" << taskParam.gain << "\n"
                  << "\033[1;37m"
                  << "saturation \n"
                  << "\033[0m" << taskParam.saturation;
    }
 
    bool ConfigureFromFile(const libconfig::Setting& confObj) noexcept(false)
    {
        if (!GetParam(confObj, taskEnable, "enable")) {
            return false;
        }
    
        if (!GetParam(confObj, gain, "gain")) {
            return false;
        }
        conf_gain = gain; // Backup value in case of online value changes        
 
        if (!GetParam(confObj, saturation, "saturation")) {
            return false;
        }
        conf_saturation = saturation; // Backup value in case of online value changes
        
        return true;
    }
};
enum class ProjectorType {
    Default,
    OnLine,
    OnPlane,
};
 
enum class TaskType {
    Equality,
    Inequality
};
 
enum class TaskOption {
    Default,
    UseErrorNorm,
    ActiveOnNorm,
};
}
 
#endif