aron_conversions.cpp

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/**
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "aron_conversions.h"
 
#include <armarx/navigation/core/aron_conversions.h>
#include <armarx/navigation/platform_controller/PlatformGlobalTrajectoryController.h>
#include <armarx/navigation/platform_controller/PlatformLocalTrajectoryController.h>
#include <armarx/navigation/platform_controller/aron/PlatformGlobalTrajectoryControllerConfig.aron.generated.h>
#include <armarx/navigation/platform_controller/aron/PlatformLocalTrajectoryControllerConfig.aron.generated.h>
#include <armarx/navigation/trajectory_control/global/aron_conversions.h>
#include <armarx/navigation/trajectory_control/local/aron_conversions.h>
 
namespace armarx::navigation::platform_controller
{
 
    namespace platform_global_trajectory
    {
 
        void
        fromAron(const arondto::Targets& dto, Targets& bo)
        {
            fromAron(dto.trajectory, bo.trajectory);
        }
 
        void
        fromAron(const arondto::Diagnostics& dto, diagnostics::Params& bo)
        {
            bo.enabled = dto.enabled;
            bo.rtDurationSeconds = dto.rtDurationSeconds;
            bo.controlDurationSeconds = dto.controlDurationSeconds;
            bo.maxTrajectoryRevisions = dto.maxTrajectoryRevisions;
            bo.outputDirectory = dto.outputDirectory;
            bo.dumpRequest = dto.dumpRequest;
        }
 
        void
        fromAron(const arondto::Config& dto, Config& bo)
        {
            fromAron(dto.params, bo.params);
            fromAron(dto.targets, bo.targets);
            fromAron(dto.diagnostics, bo.diagnostics);
        }
 
    } // namespace platform_global_trajectory
 
    namespace platform_local_trajectory
    {
 
        void
        fromAron(const arondto::Targets& dto, Targets& bo)
        {
            fromAron(dto.trajectory, bo.trajectory);
        }
 
        void
        fromAron(const arondto::Config& dto, Config& bo)
        {
            fromAron(dto.params, bo.params);
            fromAron(dto.targets, bo.targets);
        }
 
    } // namespace platform_local_trajectory
 
} // namespace armarx::navigation::platform_controller