BasicCartesianControl_ParamsParser.h

/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
 
// Generated by yarpDeviceParamParserGenerator (2.0)
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.
 
// Generated on: Sun May  3 12:50:24 2026
 
 
#ifndef BASICCARTESIANCONTROL_PARAMSPARSER_H
#define BASICCARTESIANCONTROL_PARAMSPARSER_H
 
#include <yarp/os/Searchable.h>
#include <yarp/dev/IDeviceDriverParams.h>
#include <string>
#include <cmath>
 
class BasicCartesianControl_ParamsParser : public yarp::dev::IDeviceDriverParams
{
public:
    BasicCartesianControl_ParamsParser();
    ~BasicCartesianControl_ParamsParser() override = default;
 
public:
    const std::string m_device_classname = {"BasicCartesianControl"};
    const std::string m_device_name = {"BasicCartesianControl"};
    bool m_parser_is_strict = false;
    struct parser_version_type
    {
         int major = 2;
         int minor = 0;
    };
    const parser_version_type m_parser_version = {};
 
    std::string m_provided_configuration;
 
    const std::string m_controllerGain_defaultValue = {"0.05"};
    const std::string m_trajectoryDuration_defaultValue = {"0.0"};
    const std::string m_trajectoryRefSpeed_defaultValue = {"0.05"};
    const std::string m_trajectoryRefAccel_defaultValue = {"0.02"};
    const std::string m_cmcPeriodMs_defaultValue = {"50"};
    const std::string m_waitPeriodMs_defaultValue = {"30"};
    const std::string m_usePosdMovl_defaultValue = {"false"};
    const std::string m_enableFailFast_defaultValue = {"false"};
    const std::string m_referenceFrame_defaultValue = {"base"};
    const std::string m_robot_defaultValue = {"remote_controlboard"};
    const std::string m_solver_defaultValue = {"KdlSolver"};
 
    double m_controllerGain = {0.05};
    double m_trajectoryDuration = {0.0};
    double m_trajectoryRefSpeed = {0.05};
    double m_trajectoryRefAccel = {0.02};
    int m_cmcPeriodMs = {50};
    int m_waitPeriodMs = {30};
    bool m_usePosdMovl = {false};
    bool m_enableFailFast = {false};
    std::string m_referenceFrame = {"base"};
    std::string m_robot = {"remote_controlboard"};
    std::string m_solver = {"KdlSolver"};
 
    bool          parseParams(const yarp::os::Searchable & config) override;
    std::string   getDeviceClassName() const override { return m_device_classname; }
    std::string   getDeviceName() const override { return m_device_name; }
    std::string   getDocumentationOfDeviceParams() const override;
    std::vector<std::string> getListOfParams() const override;
    bool getParamValue(const std::string& paramName, std::string& paramValue) const override;
    std::string   getConfiguration() const override;
};
 
#endif