KdlSolver_ParamsParser.h

/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
 
// Generated by yarpDeviceParamParserGenerator (1.0)
// 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: Sat Apr 19 00:49:21 2025
 
 
#ifndef KDLSOLVER_PARAMSPARSER_H
#define KDLSOLVER_PARAMSPARSER_H
 
#include <yarp/os/Searchable.h>
#include <yarp/dev/IDeviceDriverParams.h>
#include <string>
#include <cmath>
 
class KdlSolver_ParamsParser : public yarp::dev::IDeviceDriverParams
{
public:
    KdlSolver_ParamsParser();
    ~KdlSolver_ParamsParser() override = default;
 
public:
    const std::string m_device_classname = {"KdlSolver"};
    const std::string m_device_name = {"KdlSolver"};
    bool m_parser_is_strict = false;
    struct parser_version_type
    {
         int major = 1;
         int minor = 0;
    };
    const parser_version_type m_parser_version = {};
 
    const std::string m_quiet_defaultValue = {"false"};
    const std::string m_kinematics_defaultValue = {""};
    const std::string m_gravity_defaultValue = {"(0.0 0.0 9.81)"};
    const std::string m_ikPos_defaultValue = {"st"};
    const std::string m_ikVel_defaultValue = {"pinv"};
    const std::string m_epsPos_defaultValue = {"1e-5"};
    const std::string m_maxIterPos_defaultValue = {"1000"};
    const std::string m_epsVel_defaultValue = {"1e-5"};
    const std::string m_maxIterVel_defaultValue = {"150"};
    const std::string m_lambda_defaultValue = {"0.01"};
    const std::string m_weightsLMA_defaultValue = {"(1.0 1.0 1.0 0.1 0.1 0.1)"};
    const std::string m_weightsJS_defaultValue = {""};
    const std::string m_weightsTS_defaultValue = {""};
    const std::string m_invKinStrategy_defaultValue = {"leastOverallAngularDisplacement"};
    const std::string m_mins_defaultValue = {""};
    const std::string m_maxs_defaultValue = {""};
 
    bool m_quiet = {false};
    std::string m_kinematics = {}; //This default value of this string is an empty string. It is highly recommended to provide a suggested value also for optional string parameters.
    std::vector<double> m_gravity = { }; //Default values for lists are managed in the class constructor. It is highly recommended to provide a suggested value also for optional string parameters.
    std::string m_ikPos = {"st"};
    std::string m_ikVel = {"pinv"};
    double m_epsPos = {1e-5};
    int m_maxIterPos = {1000};
    double m_epsVel = {1e-5};
    int m_maxIterVel = {150};
    double m_lambda = {0.01};
    std::vector<double> m_weightsLMA = { }; //Default values for lists are managed in the class constructor. It is highly recommended to provide a suggested value also for optional string parameters.
    std::vector<double> m_weightsJS = {}; //The default value of this list is an empty list. It is highly recommended to provide a suggested value also for optional string parameters.
    std::vector<double> m_weightsTS = {}; //The default value of this list is an empty list. It is highly recommended to provide a suggested value also for optional string parameters.
    std::string m_invKinStrategy = {"leastOverallAngularDisplacement"};
    std::vector<double> m_mins = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    std::vector<double> m_maxs = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
 
    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;
};
 
#endif