36 lines
782 B
C++
36 lines
782 B
C++
#include "unitree/common/json/jsonize.hpp"
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#include <vector>
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#include <iostream>
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namespace unitree::common
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{
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class ExampleCfg : public Jsonize
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{
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public:
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ExampleCfg() : kp(0), kd(0), dt(0)
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{
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}
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void fromJson(JsonMap &json)
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{
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FromJson(json["kp"], kp);
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FromJson(json["kd"], kd);
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FromJson(json["dt"], dt);
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FromAny<float>(json["init_pos"], init_pos);
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}
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void toJson(JsonMap &json) const
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{
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ToJson(kp, json["kp"]);
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ToJson(kd, json["kd"]);
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ToJson(dt, json["dt"]);
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ToAny<float>(init_pos, json["init_pos"]);
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}
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float kp;
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float kd;
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float dt;
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std::vector<float> init_pos;
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};
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} |