ConditionCheckInRange.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::Core
* @author     Kai Welke (welke _at_ kit _dot_ edu)
* @date       2011
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/observers/ConditionCheck.h>
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx
{
    /**
     * \ingroup ConditionChecks
     *
     * Checks if the numbers published in the relevant data fields are within a reference range.
     *
     * Parameters: The lower and upper bound of the reference range
     * Supported types: Int, Float, Double
     */
    class ARMARXCORE_IMPORT_EXPORT ConditionCheckInRange :
        public ConditionCheck
    {
    public:
        ConditionCheckInRange()
        {
            setNumberParameters(2);
 
            addSupportedType(VariantType::Int, createParameterTypeList(2, VariantType::Int, VariantType::Int));
            addSupportedType(VariantType::Long, createParameterTypeList(2, VariantType::Long, VariantType::Long));
            addSupportedType(VariantType::Float, createParameterTypeList(2, VariantType::Float, VariantType::Float));
            addSupportedType(VariantType::Double, createParameterTypeList(2, VariantType::Double, VariantType::Double));
        }
 
        ConditionCheck* clone() override
        {
            return new ConditionCheckInRange(*this);
        }
 
        bool evaluate(const StringVariantMap& dataFields) override
        {
            if (dataFields.size() != 1)
            {
                ARMARX_WARNING_S << "Size of dataFields: " << dataFields.size();
                throw InvalidConditionException("Wrong number of datafields for condition InRange ");
            }
 
            const Variant& value = dataFields.begin()->second;
            VariantTypeId type = value.getType();
 
            if (type == VariantType::Int)
            {
                return (value.getInt() > getParameter(0).getInt()) && (value.getInt() < getParameter(1).getInt());
            }
 
            if (type == VariantType::Long)
            {
                return (value.getLong() > getParameter(0).getLong()) && (value.getLong() < getParameter(1).getLong());
            }
 
            if (type == VariantType::Float)
            {
                return (value.getFloat() > getParameter(0).getFloat()) && (value.getFloat() < getParameter(1).getFloat());
            }
 
            if (type == VariantType::Double)
            {
                return (value.getDouble() > getParameter(0).getDouble()) && (value.getDouble() < getParameter(1).getDouble());
            }
 
            return false;
        }
    };
}