Configuration Requirements

• It must be easy to disable a slave temporarily if the robot is half disassembled
  • E.g., disable tag in the hardware config
• Configuration language?
  • So far: XML
  • Candidates:
    • JSON (with nlohmann JSON for serialization/deserialization) => NO COMMENTS
    • YAML
• LinearConvertedValue & ModularConvertedVaue: Which and how?
  • Currently:
    • LinearConvertedValue raw * factor + offset or (raw + offset) + factor
    • ModularConvertedValue: more complex
  • Convenience, because this case occurs frequently
  • => Keep, but make (try to) more functional.

  struct LinearConversion {
    float slope = 1;
    float y_offset = 0;
    
    float operator()(float in) const { return in * slope + offset; }
  }

  • Template for different types
  • Is held by, e.g., Sensor object