added config struct for controller

source/RobotAPI/components/units/RobotUnit/BasicControllers.h

@@ -27,6 +27,7 @@
 #include <ArmarXCore/core/util/algorithm.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 #include <RobotAPI/libraries/core/PIDController.h>
+#include <ArmarXCore/core/rapidxml/wrapper/DefaultRapidXmlReader.h>
 // #define DEBUG_POS_CTRL
 #ifdef DEBUG_POS_CTRL
 #include <boost/circular_buffer.hpp>
@@ -178,20 +179,52 @@ namespace armarx
             double acceleration;
             double jerk;
         };
-        float dt;
+        // config
         float maxDt;
-        float currentV;
-        float currentAcc;
-        float targetV;
         float maxV;
         float jerk;
         float directSetVLimit;
 
+        // state
+        float dt;
+        float currentV;
+        float currentAcc;
+        float targetV;
+
 
         bool validParameters() const;
         Output run() const;
     };
 
+    typedef std::shared_ptr<class RampedAccelerationVelocityControllerConfiguration> RampedAccelerationVelocityControllerConfigurationPtr;
+    typedef std::shared_ptr<const RampedAccelerationVelocityControllerConfiguration> RampedAccelerationVelocityControllerConfigurationCPtr;
+
+    class RampedAccelerationVelocityControllerConfiguration
+    {
+    public:
+        RampedAccelerationVelocityControllerConfiguration() = default;
+        static RampedAccelerationVelocityControllerConfigurationPtr CreateFromXml(DefaultRapidXmlReaderNode node)
+        {
+            RampedAccelerationVelocityControllerConfigurationPtr config(new RampedAccelerationVelocityControllerConfiguration());
+            FillFromXml(*config, node);
+            return config;
+        }
+        static void FillFromXml(RampedAccelerationVelocityControllerConfiguration& config, DefaultRapidXmlReaderNode node)
+        {
+            config.maxVelocityRad = node.first_node("maxVelocityRad").value_as_float();
+            config.maxDecelerationRad = node.first_node("maxDecelerationRad").value_as_float();
+            config.jerk = node.first_node("jerk").value_as_float();
+            config.maxDt = node.first_node("maxDt").value_as_float();
+            config.directSetVLimit = node.first_node("directSetVLimit").value_as_float();
+        }
+
+        float maxVelocityRad;
+        float maxDecelerationRad;
+        float jerk;
+        float maxDt;
+        float directSetVLimit;
+    };
+
     struct VelocityControllerWithRampedAccelerationAndPositionBounds: VelocityControllerWithRampedAcceleration
     {