source/libr2c2/controller.cpp

   1 #include <cmath>
   2 #include "controller.h"
   3
   4 using namespace std;
   5
   6 namespace R2C2 {
   7
   8 void Controller::Control::set(float v)
   9 {
  10         if(v<min_value)
  11                 v = min_value;
  12         else if(v>max_value)
  13                 v = max_value;
  14         else if(type==BINARY)
  15                 value = v ? 1 : 0;
  16         else if(type==DISCRETE)
  17                 value = min_value+floor((v-min_value)/step)*step;
  18         else if(type==CONTINUOUS)
  19                 value = v;
  20 }
  21
  22 Controller::Control Controller::Control::binary(const string &n)
  23 {
  24         Controller::Control tc;
  25         tc.name = n;
  26         tc.type = BINARY;
  27         tc.min_value = 0;
  28         tc.max_value = 1;
  29         tc.step = 1;
  30         tc.value = 0;
  31
  32         return tc;
  33 }
  34
  35 Controller::Control Controller::Control::discrete(const string &n, float m, float x, float s)
  36 {
  37         if(x<m)
  38                 throw invalid_argument("Controller::Control::discrete");
  39
  40         Controller::Control tc;
  41         tc.name = n;
  42         tc.type = DISCRETE;
  43         tc.min_value = m;
  44         tc.max_value = m+floor((x-m)/s)*s;
  45         tc.step = s;
  46         tc.value = m;
  47
  48         return tc;
  49 }
  50
  51 Controller::Control Controller::Control::continuous(const string &n, float m, float x)
  52 {
  53         if(x<m)
  54                 throw invalid_argument("Controller::Control::continuous");
  55
  56         Controller::Control tc;
  57         tc.name = n;
  58         tc.type = CONTINUOUS;
  59         tc.min_value = m;
  60         tc.max_value = x;
  61         tc.step = 0;
  62         tc.value = m;
  63
  64         return tc;
  65 }
  66
  67 } // namespace R2C2