PositionControllerSafetySettings.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef POSITIONCONTROLLERSAFETYSETTINGS_H
#define POSITIONCONTROLLERSAFETYSETTINGS_H
 
#include <yaml-cpp/yaml.h>
 
struct PositionControllerSafetySettings {
    float FollowingErrorPercentage;
    int FaultNumberOfFollowingErrors;
    int FaultOnUnstableCount;
    float FaultForTensionAboveSupported;
 
    void set(YAML::Node node) {
        FollowingErrorPercentage = node["FollowingErrorPercentage"].as<float>();
        FaultNumberOfFollowingErrors = node["FaultNumberOfFollowingErrors"].as<int>();
        FaultOnUnstableCount = node["FaultOnUnstableCount"].as<int>();
        FaultForTensionAboveSupported = node["FaultForTensionAboveSupported"].as<float>();
    }
};
 
#endif /* POSITIONCONTROLLERSAFETYSETTINGS_H */