GoalReachedConfig.cpp

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#include "GoalReachedConfig.h"
 
#include <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/data/variant/primitive/Float.h>
#include <RobotAPI/libraries/aron/core/data/variant/primitive/Int.h>
 
namespace armarx::navigation::core
{
 
    aron::data::DictPtr
    GoalReachedConfig::toAron() const
    {
        aron::data::DictPtr params(new aron::data::Dict);
        params->setElementCopy("posTh", std::make_shared<aron::data::Float>(posTh));
        params->setElementCopy("oriTh", std::make_shared<aron::data::Float>(oriTh));
        params->setElementCopy("linearVelTh", std::make_shared<aron::data::Float>(linearVelTh));
        params->setElementCopy("angularVelTh", std::make_shared<aron::data::Float>(angularVelTh));
        params->setElementCopy("filterCount", std::make_shared<aron::data::Int>(filterCount));
        return params;
    }
 
    GoalReachedConfig
    GoalReachedConfig::FromAron(const aron::data::DictPtr& dict)
    {
        GoalReachedConfig cfg;
 
        if (dict->hasElement("posTh"))
        {
            cfg.posTh = *aron::data::Float::DynamicCast(dict->getElement("posTh"));
        }
        if (dict->hasElement("oriTh"))
        {
            cfg.oriTh = *aron::data::Float::DynamicCast(dict->getElement("oriTh"));
        }
        if (dict->hasElement("linearVelTh"))
        {
            cfg.linearVelTh = *aron::data::Float::DynamicCast(dict->getElement("linearVelTh"));
        }
        if (dict->hasElement("angularVelTh"))
        {
            cfg.angularVelTh = *aron::data::Float::DynamicCast(dict->getElement("angularVelTh"));
        }
        if (dict->hasElement("filterCount"))
        {
            cfg.filterCount = *aron::data::Int::DynamicCast(dict->getElement("filterCount"));
        }
 
        return cfg;
    }
 
} // namespace armarx::navigation::core