parameters.hpp

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/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/
 
#ifndef KOBUKI_CORE_PARAMETERS_HPP_
#define KOBUKI_CORE_PARAMETERS_HPP_
 
/*****************************************************************************
 ** Includes
 *****************************************************************************/
 
#include <string>
 
#include "logging.hpp"
#include "modules/battery.hpp"
 
/*****************************************************************************
 ** Namespaces
 *****************************************************************************/
 
namespace kobuki
{
 
/*****************************************************************************
 ** Interface
 *****************************************************************************/
class Parameters
{
public:
  Parameters() :
    device_port("/dev/kobuki"),
    sigslots_namespace("/kobuki"),
    simulation(false),
    enable_acceleration_limiter(true),
    battery_capacity(Battery::capacity),
    battery_low(Battery::low),
    battery_dangerous(Battery::dangerous),
    linear_acceleration_limit(0.3),
    linear_deceleration_limit(-0.3*1.2),
    angular_acceleration_limit(3.5),
    angular_deceleration_limit(-3.5*1.2),
    log_level(LogLevel::WARNING)
  {
  } 
  std::string device_port;         
  std::string sigslots_namespace;  
  bool simulation;                 
  bool enable_acceleration_limiter;
  double battery_capacity;          /* defaults defined in battery.cpp */
  double battery_low;                /* defaults defined in battery.cpp */
  double battery_dangerous;          /* defaults defined in battery.cpp */
 
  double linear_acceleration_limit;
  double linear_deceleration_limit;
  double angular_acceleration_limit;
  double angular_deceleration_limit;
 
  LogLevel log_level;              
  bool validate()
  {
    // not doing anything right now -  delete it, if we can find a use case ...
    return true;
  }
 
  std::string error_msg; 
};
 
} // namespace kobuki
 
#endif /* KOBUKI_CORE_PARAMETERS_HPP_ */