aron_conversions.cpp

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#include "aron_conversions.h"
 
#include <armarx/navigation/core/aron_conversions.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
#include <armarx/navigation/trajectory_control/local/aron/TrajectoryFollowingControllerParams.aron.generated.h>
 
namespace armarx::navigation::traj_ctrl::local
{
 
 
    void
    toAron(arondto::TrajectoryFollowingControllerParams& dto,
           const TrajectoryFollowingControllerParams& bo)
    {
        core::toAron(dto.pidOri, bo.pidOri);
        core::toAron(dto.pidPos, bo.pidPos);
        core::toAron(dto.limits, bo.limits);
        dto.velocityFactor = bo.velocityFactor;
        dto.alpha = bo.alpha;
        dto.coupleLinearAndAngularLimits = bo.coupleLinearAndAngularLimits;
        dto.enableAngularFeedforward = bo.enableAngularFeedforward;
    }
 
    void
    fromAron(const arondto::TrajectoryFollowingControllerParams& dto,
             TrajectoryFollowingControllerParams& bo)
    {
        core::fromAron(dto.pidOri, bo.pidOri);
        core::fromAron(dto.pidPos, bo.pidPos);
        core::fromAron(dto.limits, bo.limits);
        bo.velocityFactor = dto.velocityFactor;
        bo.alpha = dto.alpha;
        bo.coupleLinearAndAngularLimits = dto.coupleLinearAndAngularLimits;
        bo.enableAngularFeedforward = dto.enableAngularFeedforward;
    }
 
 
} // namespace armarx::navigation::traj_ctrl::local