Definitions.hpp

Go to the documentation of this file.

#pragma once

#include <yaml_cpp_catkin/yaml_cpp_fwd.hpp>

namespace momentumopt {

  struct Problem
  {
    static constexpr int n_endeffs_ = 4;

    enum class EffId { id_right_foot = 0,
                       id_left_foot  = 1,
                       id_right_hand = 2,
                       id_left_hand  = 3 };

    static bool isHand(int eff_id) {
      if (eff_id == static_cast<int>(EffId::id_left_hand) ||
          eff_id == static_cast<int>(EffId::id_right_hand))
        return true;
      return false;
    }

    static std::string idToEndeffectorString(int eff_id) {
          switch (eff_id) {
            case static_cast<int>(EffId::id_right_foot): { return std::string("rf"); break; }
            case static_cast<int>(EffId::id_left_foot ): { return std::string("lf"); break; }
            case static_cast<int>(EffId::id_right_hand): { return std::string("rh"); break; }
            case static_cast<int>(EffId::id_left_hand ): { return std::string("lh"); break; }
            default: { throw std::runtime_error("eff_id not handled in idToEndeffectorString. \n"); }
          }
    }

  };
}