ZMPCCConfiguration.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_rbdyn/api.h>
#include <mc_rtc/Configuration.h>
#include <Eigen/Core>
 
namespace mc_rbdyn
{
namespace lipm_stabilizer
{
struct MC_RBDYN_DLLAPI ZMPCCConfiguration
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Vector2d comAdmittance = Eigen::Vector2d::Zero(); 
  double integratorLeakRate = 0.1; 
  double maxCoMOffset = 0.05; 
  double maxCoMAdmitance = 20; 
  void load(const mc_rtc::Configuration & config)
  {
    config("comAdmittance", comAdmittance);
    config("maxCoMOffset", maxCoMOffset);
    config("integratorLeakRate", integratorLeakRate);
  }
  mc_rtc::Configuration save() const
  {
    mc_rtc::Configuration config;
    config.add("comAdmittance", comAdmittance);
    config.add("maxCoMOffset", maxCoMOffset);
    config.add("integratorLeakRate", integratorLeakRate);
    return config;
  }
};
} // namespace lipm_stabilizer
} // namespace mc_rbdyn
 
namespace mc_rtc
{
template<>
struct ConfigurationLoader<mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration>
{
  static mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration load(const mc_rtc::Configuration & config)
  {
    mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration zmpcc;
    zmpcc.load(config);
    return zmpcc;
  }
 
  static mc_rtc::Configuration save(const mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration & zmpcc)
  {
    return zmpcc.save();
  }
};
} // namespace mc_rtc