#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
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], refcheck=False)
self.forceBLookup.resize([len(list(forceBTree)), 3], refcheck=False)
self.torqueBLookup.resize([len(list(torqueBTree)), 3], refcheck=False)
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