Source code for parseSRPLookup

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#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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from xml.etree import ElementTree

import numpy as np


[docs] class SRPLookupTableHandler: """Class to handle an SRP Lookup table""" def __init__(self): self.sHatBLookup = np.zeros([1, 3]) self.forceBLookup = np.zeros([1, 3]) self.torqueBLookup = np.zeros([1, 3]) def parseAndLoadXML(self, filePath): document = ElementTree.parse(filePath) sHatBTree = document.find('sHatBValues') forceBTree = document.find('forceBValues') torqueBTree = document.find('torqueBValues') self.sHatBLookup.resize([len(list(sHatBTree)), 3]) self.forceBLookup.resize([len(list(forceBTree)), 3]) self.torqueBLookup.resize([len(list(torqueBTree)), 3]) for node in list(sHatBTree): idx = int(node.attrib['index']) for value in list(node): if value.tag == 'value_1': self.sHatBLookup[idx, 0] = value.text if value.tag == 'value_2': self.sHatBLookup[idx, 1] = value.text if value.tag == 'value_3': self.sHatBLookup[idx, 2] = value.text for node in list(forceBTree): idx = int(node.attrib['index']) for value in list(node): if value.tag == 'value_1': self.forceBLookup[idx, 0] = value.text if value.tag == 'value_2': self.forceBLookup[idx, 1] = value.text if value.tag == 'value_3': self.forceBLookup[idx, 2] = value.text for node in list(torqueBTree): idx = int(node.attrib['index']) for value in list(node): if value.tag == 'value_1': self.torqueBLookup[idx, 0] = value.text if value.tag == 'value_2': self.torqueBLookup[idx, 1] = value.text if value.tag == 'value_3': self.torqueBLookup[idx, 2] = value.text