// call this after updating base.
void parse() {
use_convergence = !convergence_epsilon_str.empty();
if (use_convergence) {
string_to(convergence_epsilon_str, convergence_epsilon);
if (convergence_epsilon == PT::start()) use_convergence = false;
}
}
bool string_to_bool(const std::string & str, Foo & foo) {
bool bar;
if( ! string_to(str, bar))
return false;
foo = bar ? 1 : 0;
return true;
}
static inline void from_strings(std::vector<std::string> const& s, Val& val) {
if (s.size() == 1)
string_to(s.front(), val);
else
throw std::runtime_error("from_strings: non-container value expected exactly one source string");
}
void expo_parameters_load(expo_parameters & params,
boost::shared_ptr<sfl::OptionDictionary> opt)
{
string_to(opt->GetOption("model_security_distance"), params.model_security_distance);
string_to(opt->GetOption("model_wheelbase"), params.model_wheelbase);
string_to(opt->GetOption("model_wheelradius"), params.model_wheelradius);
string_to(opt->GetOption("model_qd_max"), params.model_qd_max);
string_to(opt->GetOption("model_qdd_max"), params.model_qdd_max);
string_to(opt->GetOption("model_sd_max"), params.model_sd_max);
string_to(opt->GetOption("model_thetad_max"), params.model_thetad_max);
string_to(opt->GetOption("model_sdd_max"), params.model_sdd_max);
string_to(opt->GetOption("model_thetadd_max"), params.model_thetadd_max);
string_to(opt->GetOption("dwa_dimension"), params.dwa_dimension);
string_to(opt->GetOption("dwa_grid_width"), params.dwa_grid_width);
string_to(opt->GetOption("dwa_grid_height"), params.dwa_grid_height);
string_to(opt->GetOption("dwa_grid_resolution"), params.dwa_grid_resolution);
string_to(opt->GetOption("dwa_alpha_distance"), params.dwa_alpha_distance);
string_to(opt->GetOption("dwa_alpha_heading"), params.dwa_alpha_heading);
string_to(opt->GetOption("dwa_alpha_speed"), params.dwa_alpha_speed);
string_to_bool(opt->GetOption("dwa_use_tobi_distobj"), params.dwa_use_tobi_distobj);
string_to(opt->GetOption("dwa_tobi_distobj_blur"), params.dwa_tobi_distobj_blur);
string_to_bool(opt->GetOption("bband_enabled"), params.bband_enabled);
string_to(opt->GetOption("bband_shortpath"), params.bband_shortpath);
string_to(opt->GetOption("bband_longpath"), params.bband_longpath);
string_to(opt->GetOption("bband_maxignoredistance"), params.bband_maxignoredistance);
string_to(opt->GetOption("mp_dtheta_starthoming"), params.mp_dtheta_starthoming);
string_to(opt->GetOption("mp_dtheta_startaiming"), params.mp_dtheta_startaiming);
}
friend void string_to_impl(std::string const& str,default_true & x) { string_to(str,x.v); }
friend void string_to_impl(std::string const& str,flag & x) { string_to(str,x.v); }
bool token_to(tokenlist_t const & tokenlist, size_t index, value_t & value) {
if (index >= tokenlist.size())
return false;
return string_to(tokenlist[index], value);
}