interpolation_methods.hpp

// Copyright (c) 2022 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
 
#include <string>
#include <unordered_map>
 
#include "hardware_interface/lexical_casts.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace joint_trajectory_controller
{
 
static const rclcpp::Logger LOGGER =
  rclcpp::get_logger("joint_trajectory_controller.interpolation_methods");
 
namespace interpolation_methods
{
 
enum class InterpolationMethod
{
  NONE,
 
  VARIABLE_DEGREE_SPLINE
};
 
const InterpolationMethod DEFAULT_INTERPOLATION = InterpolationMethod::VARIABLE_DEGREE_SPLINE;
 
[[deprecated(
  "InterpolationMethodMap will be removed in future releases. "
  "Instead, use the direct lookup methods.")]]
const std::unordered_map<std::string, InterpolationMethod> InterpolationMethodMap(
  {{"none", InterpolationMethod::NONE}, {"splines", InterpolationMethod::VARIABLE_DEGREE_SPLINE}});
 
[[nodiscard]] inline std::string to_string(const InterpolationMethod & interpolation_method)
{
  switch (interpolation_method)
  {
    case InterpolationMethod::NONE:
      return "none";
    case InterpolationMethod::VARIABLE_DEGREE_SPLINE:
      return "splines";
    // Default
    default:
      RCLCPP_WARN(
        LOGGER,
        "Unknown interpolation method enum value was given. Returning default: "
        "UNKNOWN");
      return "UNKNOWN";
  }
}
 
[[nodiscard]] inline InterpolationMethod from_string(const std::string & interpolation_method)
{
  // Convert to lowercase, so we have a case-agnostic checking,
  // (i.e., "None, NONE, and none" are treated same.)
  std::string method = ::hardware_interface::to_lower_case(interpolation_method);
 
  if (method == "none")
  {
    return InterpolationMethod::NONE;
  }
  else if (method == "splines")
  {
    return InterpolationMethod::VARIABLE_DEGREE_SPLINE;
  }
  // Default
  else
  {
    RCLCPP_WARN(
      LOGGER,
      "Unknown interpolation method parameter '%s' was given. Using the default: "
      "DEFAULT_INTERPOLATION (%s).",
      interpolation_method.c_str(), to_string(DEFAULT_INTERPOLATION).c_str());
    return DEFAULT_INTERPOLATION;
  }
}
 
}  // namespace interpolation_methods
}  // namespace joint_trajectory_controller
 
#endif  // JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_