modelec-utils

Modelec utils package is used by all other package. It export some utility functions and some utility class

Config

Class to load config from .xml file

Definition

namespace Modelec
{
    class Config
    {

    public:
        static bool load(const std::string& filepath);

        template<typename T>
        static T get(const std::string& key, const T& default_value = T());

    private:
        static void parseNode(tinyxml2::XMLElement* element, const std::string& prefix);

        static inline std::unordered_map<std::string, std::string> values_;
    };
}

Point

Class to use the same Point def in all other packages

Defition

namespace Modelec
{
    struct Point {
        int x;
        int y;
        double theta;

        Point() : x(0), y(0), theta(0) {}
        Point(int x, int y, double theta) : x(x), y(y), theta(theta) {}

        static double distance(const Point& p1, const Point& p2);
        static double angleDiff(const Point& p1, const Point& p2);

        double distance(const Point& p2) const;
        double angleDiff(const Point& p2) const;

        [[nodiscard]] Point GetTakePosition(int distance, double angle) const;
        [[nodiscard]] Point GetTakePosition(int distance) const;

        [[nodiscard]] Point GetTakeBasePosition() const;
        [[nodiscard]] Point GetTakeClosePosition() const;
    };
}

Utils

Utility function

Definition

namespace Modelec {
    std::vector<std::string> split(const std::string &s, char delim);

    std::string join(const std::vector<std::string> &v, const std::string &delim);

    bool startsWith(const std::string &s, const std::string &prefix);

    bool endsWith(const std::string &s, const std::string &suffix);

    bool contains(const std::string &s, const std::string &substring);

    template <typename T, typename std::enable_if<std::is_arithmetic<T>::value, int>::type = 0>
    T mapValue(T v, T v_min, T v_max, T v_min_prime, T v_max_prime) {
        return v_min_prime + (((v - v_min) * (v_max_prime - v_min_prime)) / (v_max - v_min));
    }

    std::string trim(const std::string &s);
}