feat: add IO states to state representation (cpp)

CHANGELOG.md

@@ -13,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- feat: add IO states to state representation (cpp) (#158)
 - build: add missing licenses (#170)
 - feat(build): handle installation and linking of dependencies for pinocchio collision support (#161)
 - build: update dockerfiles (#153)

VERSION

@@ -1 +1 @@
-7.3.5
+7.3.6

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.5 CONFIG REQUIRED)
+find_package(control_libraries 7.3.6 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.5
+PROJECT_NUMBER = 7.3.6
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.5)
+project(clproto VERSION 7.3.6)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/setup.py

@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.3.5"
+__version__ = "7.3.6"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.3.5)
+project(control_libraries VERSION 7.3.6)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)

source/state_representation/CMakeLists.txt

@@ -7,6 +7,9 @@ set(EIGEN_MPL2_ONLY 1)
 set(CORE_SOURCES
   src/MathTools.cpp
   src/State.cpp
+  src/IOState.cpp
+  src/DigitalIOState.cpp
+  src/AnalogIOState.cpp
   src/space/SpatialState.cpp
   src/space/cartesian/CartesianState.cpp
   src/space/cartesian/CartesianPose.cpp

source/state_representation/include/state_representation/AnalogIOState.hpp

@@ -0,0 +1,115 @@
+#pragma once
+
+#include "state_representation/IOState.hpp"
+
+namespace state_representation {
+
+class AnalogIOState : public IOState<double> {
+public:
+  /**
+   * @brief Empty constructor for an analog IO state
+   */
+  AnalogIOState();
+
+  /**
+   * @brief Constructor with name and number of analog IOs provided
+   * @param name The name of the associated IO state
+   * @param nb_ios The number of IOs for initialization
+   */
+  explicit AnalogIOState(const std::string& name, unsigned int nb_ios = 0);
+
+  /**
+   * @brief Constructor with name and list of analog IO names provided
+   * @param name The name of the associated analog IO state
+   * @param io_name List of IO names
+   */
+  AnalogIOState(const std::string& name, const std::vector<std::string>& io_names);
+
+  /**
+   * @brief Copy constructor of an analog IO state
+   * @param state The analog IO state to copy from
+   */
+  AnalogIOState(const AnalogIOState& state);
+
+  /**
+   * @brief Constructor for a zero analog IO state
+   * @param name The name of the associated analog IO state
+   * @param nb_ios The number of analog IOs for initialization
+   * @return Analog IO state with zero data
+   */
+  static AnalogIOState Zero(const std::string& name, unsigned int nb_ios);
+
+  /**
+   * @brief Constructor for a zero analog IO state
+   * @param name The name of the associated analog IO state
+   * @param names List of IO names
+   * @return Analog IO state with zero data
+   */
+  static AnalogIOState Zero(const std::string& name, const std::vector<std::string>& names);
+
+  /**
+   * @brief Constructor for an analog IO state with random data
+   * @param name The name of the associated analog IO state
+   * @param nb_ios The number of analog IOs for initialization
+   * @return Analog IO state with random data
+   */
+  static AnalogIOState Random(const std::string& name, unsigned int nb_ios);
+
+  /**
+   * @brief Constructor for an analog IO state with random data
+   * @param name The name of the associated analog IO state
+   * @param names List of IO names
+   * @return Analog IO state with random data
+   */
+  static AnalogIOState Random(const std::string& name, const std::vector<std::string>& names);
+
+  /**
+   * @brief Copy assignment operator that has to be defined to the custom assignment operator
+   * @param state The state with value to assign
+   * @return Reference to the current state with new values
+   */
+  AnalogIOState& operator=(const AnalogIOState& state);
+
+  /**
+   * @brief Return a copy of the analog IO state
+   */
+  AnalogIOState copy() const;
+
+  /**
+   * @copybrief State::reset
+   */
+  void reset() override;
+
+  /**
+   * @brief Set the analog IO state to zero data
+   */
+  void set_zero();
+
+  /**
+   * @brief Overload the ostream operator for printing
+   * @param os The ostream to append the string representing the state to
+   * @param state The spatial state to print
+   * @return The appended ostream
+   */
+  friend std::ostream& operator<<(std::ostream& os, const AnalogIOState& state);
+
+protected:
+
+  /**
+   * @brief Swap the values of the IO states
+   * @param state1 IO state to be swapped with 2
+   * @param state2 IO state to be swapped with 1
+   */
+  friend void swap(AnalogIOState& state1, AnalogIOState& state2);
+
+  /**
+   * @copydoc State::to_string
+   */
+  std::string to_string() const override;
+};
+
+inline void swap(AnalogIOState& state1, AnalogIOState& state2) {
+  swap(static_cast<IOState<double>&>(state1), static_cast<IOState<double>&>(state2));
+}
+
+}// namespace state_representation

source/state_representation/include/state_representation/DigitalIOState.hpp

@@ -0,0 +1,174 @@
+#pragma once
+
+#include "state_representation/IOState.hpp"
+
+namespace state_representation {
+
+class DigitalIOState : public IOState<bool> {
+public:
+  /**
+   * @brief Empty constructor for a digital IO state
+   */
+  DigitalIOState();
+
+  /**
+   * @brief Constructor with name and number of digital IOs provided
+   * @param name The name of the associated IO state
+   * @param nb_ios The number of IOs for initialization
+   */
+  explicit DigitalIOState(const std::string& name, unsigned int nb_ios = 0);
+
+  /**
+   * @brief Constructor with name and list of digital IO names provided
+   * @param name The name of the associated digital IO state
+   * @param io_name List of IO names
+   */
+  DigitalIOState(const std::string& name, const std::vector<std::string>& io_names);
+
+  /**
+   * @brief Copy constructor of a digital IO state
+   * @param state The digital IO state to copy from
+   */
+  DigitalIOState(const DigitalIOState& state);
+
+  /**
+   * @brief Constructor for a zero digital IO state
+   * @param name The name of the associated digital IO state
+   * @param nb_ios The number of digital IOs for initialization
+   * @return Digital IO state with zero data
+   */
+  static DigitalIOState Zero(const std::string& name, unsigned int nb_ios);
+
+  /**
+   * @brief Constructor for a zero digital IO state
+   * @param name The name of the associated digital IO state
+   * @param names List of IO names
+   * @return Digital IO state with zero data
+   */
+  static DigitalIOState Zero(const std::string& name, const std::vector<std::string>& names);
+
+  /**
+   * @brief Constructor for a digital IO state with random data
+   * @param name The name of the associated digital IO state
+   * @param nb_ios The number of digital IOs for initialization
+   * @return Digital IO state with random data
+   */
+  static DigitalIOState Random(const std::string& name, unsigned int nb_ios);
+
+  /**
+   * @brief Constructor for a digital IO state with random data
+   * @param name The name of the associated digital IO state
+   * @param names List of IO names
+   * @return Digital IO state with random data
+   */
+  static DigitalIOState Random(const std::string& name, const std::vector<std::string>& names);
+
+  /**
+   * @brief Copy assignment operator that has to be defined to the custom assignment operator
+   * @param state The state with value to assign
+   * @return Reference to the current state with new values
+   */
+  DigitalIOState& operator=(const DigitalIOState& state);
+
+  /**
+   * @brief Check if a digital IO is true by its name, if it exists
+   * @param name The name of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   * @return The value of the IO, if it exists
+   */
+  bool is_true(const std::string& name) const;
+
+  /**
+   * @brief Check if a digital IO is true by its index, if it exists
+   * @param io_index The index of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   * @return The value of the IO, if it exists
+   */
+  bool is_true(unsigned int io_index) const;
+
+  /**
+   * @brief Check if a digital IO is false by its name, if it exists
+   * @param name The name of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   * @return The value of the IO, if it exists
+   */
+  bool is_false(const std::string& name) const;
+
+  /**
+   * @brief Check if a digital IO is false by its index, if it exists
+   * @param io_index The index of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   * @return The value of the IO, if it exists
+   */
+  bool is_false(unsigned int io_index) const;
+
+  /**
+   * @brief Set the a digital IO to true by its name
+   * @param name The name of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   */
+  void set_true(const std::string& name);
+
+  /**
+   * @brief Set the a digital IO to true by its index
+   * @param io_index The index of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   */
+  void set_true(unsigned int io_index);
+
+  /**
+   * @brief Set the a digital IO to false by its name
+   * @param name The name of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   */
+  void set_false(const std::string& name);
+
+  /**
+   * @brief Set the a digital IO to false by its index
+   * @param io_index The index of the IO
+   * @throws IONotFoundException if the desired IO doesn't exist
+   */
+  void set_false(unsigned int io_index);
+
+  /**
+   * @brief Return a copy of the digital IO state
+   */
+  DigitalIOState copy() const;
+
+  /**
+   * @copybrief State::reset
+   */
+  void reset() override;
+
+  /**
+   * @brief Set all digital IOs false
+   */
+  void set_false();
+
+  /**
+   * @brief Overload the ostream operator for printing
+   * @param os The ostream to append the string representing the state to
+   * @param state The spatial state to print
+   * @return The appended ostream
+   */
+  friend std::ostream& operator<<(std::ostream& os, const DigitalIOState& state);
+
+protected:
+  /**
+   * @brief Swap the values of the IO states
+   * @param state1 IO state to be swapped with 2
+   * @param state2 IO state to be swapped with 1
+   */
+  friend void swap(DigitalIOState& state1, DigitalIOState& state2);
+
+  /**
+   * @copydoc State::to_string
+   */
+  std::string to_string() const override;
+};
+
+inline void swap(DigitalIOState& state1, DigitalIOState& state2) {
+  swap(static_cast<IOState<bool>&>(state1), static_cast<IOState<bool>&>(state2));
+}
+
+}// namespace state_representation