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Add state_representation::Parameters to clproto #180

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merged 12 commits into from
Aug 25, 2021
Merged

Add state_representation::Parameters to clproto #180

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b7c5df0
Add proto definitions for Parameter
eeberhard Aug 23, 2021
c6f95c1
Add Parameter to StateMessage
eeberhard Aug 23, 2021
551924b
Cleanups
eeberhard Aug 23, 2021
9ee2c73
Add ParameterMessageType
eeberhard Aug 23, 2021
0b212a1
Template bindings for parameters
eeberhard Aug 23, 2021
3a49bcf
Implement parameter encoders
eeberhard Aug 23, 2021
82ea3f2
Implement parameter decoders
eeberhard Aug 24, 2021
7e790e7
Add parameter tests
eeberhard Aug 24, 2021
99a6317
Minor fixes
eeberhard Aug 24, 2021
ca0f18e
CI test clproto in Release
eeberhard Aug 24, 2021
342e4f9
Revert templated en/decoders
eeberhard Aug 24, 2021
c60fe00
Update CHANGELOG
eeberhard Aug 25, 2021
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14 changes: 14 additions & 0 deletions protocol/clproto_cpp/include/clproto.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,24 @@

namespace clproto {

/**
* @class DecodingException
* @brief A DedocdingException is raised whenever a
* decoding operation fails due to invalid encoding.
*/
class DecodingException : public std::runtime_error {
public:
explicit DecodingException(const std::string& msg);
};

/**
* @brief The MessageType enumeration contains the possible
* message types in the clproto.
* @details The values and order of this enumeration
* are synchronized with the fields of the protobuf
* StateMessage type, allowing a one-to-one mapping
* to the StateMessage type case.
*/
enum MessageType {
UNKNOWN_MESSAGE = 0,
STATE_MESSAGE = 1,
Expand All @@ -27,6 +40,7 @@ enum MessageType {
JOINT_TORQUES_MESSAGE = 13,
SHAPE_MESSAGE = 14,
ELLIPSOID_MESSAGE = 15,
PARAMETER_MESSAGE = 16
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No comma at the end?

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probably not that is the last one of the enum

};

/**
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2 changes: 2 additions & 0 deletions protocol/protobuf/proto/state_representation/state_message.proto
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Expand Up @@ -9,6 +9,7 @@ import "state_representation/space/joint/jacobian.proto";
import "state_representation/space/joint/joint_state.proto";
import "state_representation/geometry/shape.proto";
import "state_representation/geometry/ellipsoid.proto";
import "state_representation/parameters/parameter.proto";

message StateMessage {
oneof message_type {
Expand All @@ -27,5 +28,6 @@ message StateMessage {
JointTorques joint_torques = 13;
Shape shape = 14;
Ellipsoid ellipsoid = 15;
Parameter parameter = 16;
}
}