Odometry.hpp

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/*
 * file Odometry.hpp
 *
 * This file was generated by classgenerator from odometry.gen.
 * DO NOT CHANGE MANUALLY!
 *
 * Copyright © 2021 Dimitri Joukoff. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Dimitri Joukoff.
 *
 * 4. Neither the name of the author nor the names of contributors
 *    may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * -----------------------------------------------------------------------
 * This program is free software; you can redistribute it and/or
 * modify it under the above terms or under the terms of the GNU
 * General Public License as published by the Free Software Foundation;
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#ifndef guWhiteboard_Odometry_h
#define guWhiteboard_Odometry_h
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#include <cstdlib>
#include <string.h>
#include <sstream>
#endif
 
#include <gu_util.h>
#include "wb_odometry.h"
#include <float.h>
 
#undef guWhiteboard_Odometry_DEFINED
#define guWhiteboard_Odometry_DEFINED
 
#undef Odometry_DEFINED
#define Odometry_DEFINED
 
namespace guWhiteboard {
 
    class Odometry: public wb_odometry {
 
    private:
 
        void init(float t_forward = 0.0f, float t_left = 0.0f, float t_turn = 0.0f) {
            set_forward(t_forward);
            set_left(t_left);
            set_turn(t_turn);
        }
 
    public:
 
        Odometry(float t_forward = 0.0f, float t_left = 0.0f, float t_turn = 0.0f) {
            this->init(t_forward, t_left, t_turn);
        }
 
        Odometry(const Odometry &t_other): wb_odometry() {
            this->init(t_other.forward(), t_other.left(), t_other.turn());
        }
 
        Odometry(const struct wb_odometry &t_other): wb_odometry() {
            this->init(t_other.forward, t_other.left, t_other.turn);
        }
 
        Odometry &operator = (const Odometry &t_other) {
            this->init(t_other.forward(), t_other.left(), t_other.turn());
            return *this;
        }
 
        Odometry &operator = (const struct wb_odometry &t_other) {
            this->init(t_other.forward, t_other.left, t_other.turn);
            return *this;
        }
 
        bool operator ==(const Odometry &t_other) const
        {
            return fabsf(forward() - t_other.forward()) < FLT_EPSILON
                && fabsf(left() - t_other.left()) < FLT_EPSILON
                && fabsf(turn() - t_other.turn()) < FLT_EPSILON;
        }
 
        bool operator !=(const Odometry &t_other) const
        {
            return !(*this == t_other);
        }
 
        bool operator ==(const wb_odometry &t_other) const
        {
            return *this == Odometry(t_other);
        }
 
        bool operator !=(const wb_odometry &t_other) const
        {
            return !(*this == t_other);
        }
 
        float & forward()
        {
            return wb_odometry::forward;
        }
 
        const float & forward() const
        {
            return wb_odometry::forward;
        }
 
        void set_forward(const float &t_newValue)
        {
            wb_odometry::forward = t_newValue;
        }
 
        float & left()
        {
            return wb_odometry::left;
        }
 
        const float & left() const
        {
            return wb_odometry::left;
        }
 
        void set_left(const float &t_newValue)
        {
            wb_odometry::left = t_newValue;
        }
 
        float & turn()
        {
            return wb_odometry::turn;
        }
 
        const float & turn() const
        {
            return wb_odometry::turn;
        }
 
        void set_turn(const float &t_newValue)
        {
            wb_odometry::turn = t_newValue;
        }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        Odometry(const std::string &t_str) {
            this->init();
            this->from_string(t_str);
        }
 
        std::string description() {
#ifdef USE_WB_ODOMETRY_C_CONVERSION
            char buffer[ODOMETRY_DESC_BUFFER_SIZE];
            wb_odometry_description(this, buffer, sizeof(buffer));
            std::string descr = buffer;
            return descr;
#else
            std::ostringstream ss;
            ss << "forward=" << this->forward();
            ss << ", ";
            ss << "left=" << this->left();
            ss << ", ";
            ss << "turn=" << this->turn();
            return ss.str();
#endif 
        }
 
        std::string to_string() {
#ifdef USE_WB_ODOMETRY_C_CONVERSION
            char buffer[ODOMETRY_TO_STRING_BUFFER_SIZE];
            wb_odometry_to_string(this, buffer, sizeof(buffer));
            std::string toString = buffer;
            return toString;
#else
            std::ostringstream ss;
            ss << this->forward();
            ss << ", ";
            ss << this->left();
            ss << ", ";
            ss << this->turn();
            return ss.str();
#endif 
        }
 
#ifdef USE_WB_ODOMETRY_C_CONVERSION
        void from_string(const std::string &t_str) {
            wb_odometry_from_string(this, t_str.c_str());
#else
        void from_string(const std::string &t_str) {
            char * str_cstr = const_cast<char *>(t_str.c_str());
            size_t temp_length = strlen(str_cstr);
            int length = (temp_length <= INT_MAX) ? static_cast<int>(static_cast<ssize_t>(temp_length)) : -1;
            if (length < 1 || length > ODOMETRY_DESC_BUFFER_SIZE) {
                return;
            }
            char var_str_buffer[ODOMETRY_DESC_BUFFER_SIZE + 1];
            char* var_str = &var_str_buffer[0];
            char key_buffer[8];
            char* key = &key_buffer[0];
            int bracecount = 0;
            int startVar = 0;
            int index = 0;
            int startKey = 0;
            int endKey = -1;
            int varIndex = 0;
            if (index == 0 && str_cstr[0] == '{') {
                index = 1;
            }
            startVar = index;
            startKey = startVar;
            do {
                for (int i = index; i < length; i++) {
                    index = i + 1;
                    if (bracecount == 0 && str_cstr[i] == '=') {
                        endKey = i - 1;
                        startVar = index;
                        continue;
                    }
                    if (bracecount == 0 && isspace(str_cstr[i])) {
                        startVar = index;
                        if (endKey == -1) {
                            startKey = index;
                        }
                        continue;
                    }
                    if (bracecount == 0 && str_cstr[i] == ',') {
                        index = i - 1;
                        break;
                    }
                    if (str_cstr[i] == '{') {
                        bracecount++;
                        continue;
                    }
                    if (str_cstr[i] == '}') {
                        bracecount--;
                        if (bracecount < 0) {
                            index = i - 1;
                            break;
                        }
                    }
                    if (i == length - 1) {
                        index = i;
                    }
                }
                if (endKey >= startKey && endKey - startKey < length) {
                    strncpy(key, str_cstr + startKey, static_cast<size_t>((endKey - startKey) + 1));
                    key[(endKey - startKey) + 1] = 0;
                } else {
                    key[0] = 0;
                }
                strncpy(var_str, str_cstr + startVar, static_cast<size_t>((index - startVar) + 1));
                var_str[(index - startVar) + 1] = 0;
                bracecount = 0;
                index += 2;
                startVar = index;
                startKey = startVar;
                endKey = -1;
                if (strlen(key) > 0) {
                    if (0 == strcmp("forward", key)) {
                        varIndex = 0;
                    } else if (0 == strcmp("left", key)) {
                        varIndex = 1;
                    } else if (0 == strcmp("turn", key)) {
                        varIndex = 2;
                    } else {
                        varIndex = -1;
                    }
                }
                switch (varIndex) {
                    case -1: { break; }
                    case 0:
                    {
                        this->set_forward(static_cast<float>(atof(var_str)));
                        break;
                    }
                    case 1:
                    {
                        this->set_left(static_cast<float>(atof(var_str)));
                        break;
                    }
                    case 2:
                    {
                        this->set_turn(static_cast<float>(atof(var_str)));
                        break;
                    }
                }
                if (varIndex >= 0) {
                    varIndex++;
                }
            } while(index < length);
#endif 
        }
#endif 
 
        inline void clear() {
          set_forward(0.0f);
          set_left(0.0f);
          set_turn(0.0f);
        }
 
        inline Odometry operator+(const Odometry& a) const {
          Odometry c;
          c.set_forward(forward() + a.forward());
          c.set_left(left() + a.left());
          c.set_turn(turn() + a.turn());
          return c;
        }
 
        inline Odometry operator-(const Odometry& a) const {
          Odometry c;
          c.set_forward(forward() - a.forward());
          c.set_left(left() - a.left());
          c.set_turn(turn() - a.turn());
        return c;
        }
    };
 
} 
 
#endif