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package rcl_interfaces.msg.dds;
import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;
/**
* Represents bounds and a step value for a floating point typed parameter.
*/
public class FloatingPointRange extends Packet implements Settable, EpsilonComparable
{
/**
* Start value for valid values, inclusive.
*/
public double from_value_;
/**
* End value for valid values, inclusive.
*/
public double to_value_;
/**
* Size of valid steps between the from and to bound.
* Step is considered to be a magnitude, therefore negative values are treated the
* same as positive values, and a step value of zero implies a continuous range of
* values.
* Ideally, the step would be less than or equal to the distance between the
* bounds, as well as an even multiple of the distance between the bounds, but
* neither are required.
* If the absolute value of the step is larger than or equal to the distance
* between the two bounds, then the bounds will be the only valid values,
* e.g. if the range is defined as {from_value: 1.0, to_value: 2.0, step: 5.0} then
* the valid values will be 1.0 and 2.0.
* If the step is less than the distance between the bounds, but the distance is
* not a multiple of the step, then the "to" bound will always be a valid value,
* e.g. if the range is defined as {from_value: 2.0, to_value: 5.0, step: 2.0} then
* the valid values will be 2.0, 4.0, and 5.0.
*/
public double step_;
public FloatingPointRange()
{
}
public FloatingPointRange(FloatingPointRange other)
{
this();
set(other);
}
public void set(FloatingPointRange other)
{
from_value_ = other.from_value_;
to_value_ = other.to_value_;
step_ = other.step_;
}
/**
* Start value for valid values, inclusive.
*/
public void setFromValue(double from_value)
{
from_value_ = from_value;
}
/**
* Start value for valid values, inclusive.
*/
public double getFromValue()
{
return from_value_;
}
/**
* End value for valid values, inclusive.
*/
public void setToValue(double to_value)
{
to_value_ = to_value;
}
/**
* End value for valid values, inclusive.
*/
public double getToValue()
{
return to_value_;
}
/**
* Size of valid steps between the from and to bound.
* Step is considered to be a magnitude, therefore negative values are treated the
* same as positive values, and a step value of zero implies a continuous range of
* values.
* Ideally, the step would be less than or equal to the distance between the
* bounds, as well as an even multiple of the distance between the bounds, but
* neither are required.
* If the absolute value of the step is larger than or equal to the distance
* between the two bounds, then the bounds will be the only valid values,
* e.g. if the range is defined as {from_value: 1.0, to_value: 2.0, step: 5.0} then
* the valid values will be 1.0 and 2.0.
* If the step is less than the distance between the bounds, but the distance is
* not a multiple of the step, then the "to" bound will always be a valid value,
* e.g. if the range is defined as {from_value: 2.0, to_value: 5.0, step: 2.0} then
* the valid values will be 2.0, 4.0, and 5.0.
*/
public void setStep(double step)
{
step_ = step;
}
/**
* Size of valid steps between the from and to bound.
* Step is considered to be a magnitude, therefore negative values are treated the
* same as positive values, and a step value of zero implies a continuous range of
* values.
* Ideally, the step would be less than or equal to the distance between the
* bounds, as well as an even multiple of the distance between the bounds, but
* neither are required.
* If the absolute value of the step is larger than or equal to the distance
* between the two bounds, then the bounds will be the only valid values,
* e.g. if the range is defined as {from_value: 1.0, to_value: 2.0, step: 5.0} then
* the valid values will be 1.0 and 2.0.
* If the step is less than the distance between the bounds, but the distance is
* not a multiple of the step, then the "to" bound will always be a valid value,
* e.g. if the range is defined as {from_value: 2.0, to_value: 5.0, step: 2.0} then
* the valid values will be 2.0, 4.0, and 5.0.
*/
public double getStep()
{
return step_;
}
public static Supplier getPubSubType()
{
return FloatingPointRangePubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return FloatingPointRangePubSubType::new;
}
@Override
public boolean epsilonEquals(FloatingPointRange other, double epsilon)
{
if(other == null) return false;
if(other == this) return true;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.from_value_, other.from_value_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.to_value_, other.to_value_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.step_, other.step_, epsilon)) return false;
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof FloatingPointRange)) return false;
FloatingPointRange otherMyClass = (FloatingPointRange) other;
if(this.from_value_ != otherMyClass.from_value_) return false;
if(this.to_value_ != otherMyClass.to_value_) return false;
if(this.step_ != otherMyClass.step_) return false;
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("FloatingPointRange {");
builder.append("from_value=");
builder.append(this.from_value_); builder.append(", ");
builder.append("to_value=");
builder.append(this.to_value_); builder.append(", ");
builder.append("step=");
builder.append(this.step_);
builder.append("}");
return builder.toString();
}
}
