在c++中使用yaml-cpp动态调参

使用yaml-cpp可以进行动态调参，无需重新编译，节省调试时间。

安装

安装yaml-cpp

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git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp && mkdir build && cd build
cmake -DYAML_BUILD_SHARED_LIBS=on ..
sudo make
sudo make install
sudo ldconfig

头文件在/usr/local/include，库文件在/usr/local/lib

使用

  1. CmakeLists.txt

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    find_package(yaml-cpp REQUIRED)
    include_directories(${YAML_CPP_INCLUDE_DIR})
    target_link_libraries(your_file_name yaml-cpp)

  2. yaml文件

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    kp:
      a: 500
      b: 300
      c: 200
    kd:
      a: 30
      b: 20
      c: 10

  3. 源文件

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    #include <yaml-cpp/yaml.h>

    #define YAML_PATH "xxx.yaml"

    Mat3 _Kp, _Kd;

    void read_yaml()
    {
    	YAML::Node config;
    	try
    	{
    		config = YAML::LoadFile(YAML_PATH);
    	} catch(YAML::BadFile &e)
    	{
    		std::cout << "read error, please change YAML_PATH in file State_Towr.cpp" << std::endl;
    		return;
    	}

    	_Kp = Vec3(config["kp"]["a"].as<int>(), config["kp"]["b"].as<int>(), config["kp"]["c"].as<int>()).asDiagonal();
    	_Kd = Vec3(config["kd"]["a"].as<int>(), config["kd"]["b"].as<int>(), config["kd"]["c"].as<int>()).asDiagonal();

    	std::cout << "Change kp to ["
    	          << config["kp"]["a"].as<int>() << ", "
    	          << config["kp"]["b"].as<int>() << ", "
    	          << config["kp"]["c"].as<int>() << ", "
    	          << "]" << std::endl;
    	std::cout << "Change kd to ["
    	          << config["kd"]["a"].as<int>() << ", "
    	          << config["kd"]["b"].as<int>() << ", "
    	          << config["kd"]["c"].as<int>() << ", "
    	          << "]" << std::endl;
    }

    void main()
    {
        read_yaml();
    }