Esempi in C++ (Cpp) per bot_param_get_double_or_fail

Esempio n. 1

File: rbis_legodo_common.cpp Progetto: openhumanoids/pronto

LegOdoCommon::LegOdoCommon(lcm::LCM* lcm_recv,  lcm::LCM* lcm_pub, BotParam * param):
  lcm_recv(lcm_recv), lcm_pub(lcm_pub){
  verbose = false;
  
  char* mode_str = bot_param_get_str_or_fail(param, "state_estimator.legodo.mode");
  if (strcmp(mode_str, "lin_rot_rate") == 0) {
    mode_ = MODE_LIN_AND_ROT_RATE;
    std::cout << "LegOdo will provide velocity and rotation rates." << std::endl;
  }else if (strcmp(mode_str, "lin_rate") == 0){
    mode_ = MODE_LIN_RATE;
    std::cout << "LegOdo will provide linear velocity rates but no rotation rates." << std::endl;
  }else if (strcmp(mode_str, "pos_and_lin_rate") == 0){
    mode_ = MODE_POSITION_AND_LIN_RATE;
    std::cout << "LegOdo will provide positions as well as linear velocity rates." << std::endl;
  }else{
    std::cout << "Legodo not understood! [LegOdoCommon]." << std::endl;
  }

  free(mode_str);
  
  R_legodo_xyz_ = bot_param_get_double_or_fail(param, "state_estimator.legodo.r_xyz");
  
  R_legodo_vxyz_ = bot_param_get_double_or_fail(param, "state_estimator.legodo.r_vxyz");
  R_legodo_vang_ = bot_param_get_double_or_fail(param, "state_estimator.legodo.r_vang");
  
  R_legodo_vxyz_uncertain_ = bot_param_get_double_or_fail(param, "state_estimator.legodo.r_vxyz_uncertain");
  R_legodo_vang_uncertain_ = bot_param_get_double_or_fail(param, "state_estimator.legodo.r_vang_uncertain");
}  

Esempio n. 2

File: ServoConverter.cpp Progetto: fengmushu/flight

ServoConverter::ServoConverter(BotParam *param) {

    rad_to_servo_.elevL_slope = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.elevL_slope");
    rad_to_servo_.elevL_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.elevL_y_intercept");

    rad_to_servo_.elevR_slope = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.elevR_slope");
    rad_to_servo_.elevR_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.elevR_y_intercept");

    rad_to_servo_.throttle_slope = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.throttle_slope");
    rad_to_servo_.throttle_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.radians_to_servo.throttle_y_intercept");

    servo_to_rad_.elevL_slope = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.elevL_slope");
    servo_to_rad_.elevL_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.elevL_y_intercept");

    servo_to_rad_.elevR_slope = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.elevR_slope");
    servo_to_rad_.elevR_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.elevR_y_intercept");

    servo_to_rad_.throttle_slope = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.throttle_slope");
    servo_to_rad_.throttle_y_intercept = bot_param_get_double_or_fail(param, "servo_commands.servo_to_radians.throttle_y_intercept");


    elevL_min_ = bot_param_get_int_or_fail(param, "servo_commands.elevL_min");
    elevL_max_ = bot_param_get_int_or_fail(param, "servo_commands.elevL_max");

    elevR_min_ = bot_param_get_int_or_fail(param, "servo_commands.elevR_min");
    elevR_max_ = bot_param_get_int_or_fail(param, "servo_commands.elevR_max");

    throttle_min_ = bot_param_get_int_or_fail(param, "servo_commands.throttle_min");
    throttle_max_ = bot_param_get_int_or_fail(param, "servo_commands.throttle_max");

    elevL_trim_ = bot_param_get_int_or_fail(param, "servo_commands.elevL_flight_trim");
    elevR_trim_ = bot_param_get_int_or_fail(param, "servo_commands.elevR_flight_trim");
    throttle_trim_ = bot_param_get_int_or_fail(param, "servo_commands.throttle_flight_trim");

}