public void MergeFrom(MPCControllerConf other)
{
if (other == null)
{
return;
}
if (other.Ts != 0D)
{
Ts = other.Ts;
}
if (other.Cf != 0D)
{
Cf = other.Cf;
}
if (other.Cr != 0D)
{
Cr = other.Cr;
}
if (other.MassFl != 0)
{
MassFl = other.MassFl;
}
if (other.MassFr != 0)
{
MassFr = other.MassFr;
}
if (other.MassRl != 0)
{
MassRl = other.MassRl;
}
if (other.MassRr != 0)
{
MassRr = other.MassRr;
}
if (other.Eps != 0D)
{
Eps = other.Eps;
}
matrixQ_.Add(other.matrixQ_);
matrixR_.Add(other.matrixR_);
if (other.CutoffFreq != 0)
{
CutoffFreq = other.CutoffFreq;
}
if (other.MeanFilterWindowSize != 0)
{
MeanFilterWindowSize = other.MeanFilterWindowSize;
}
if (other.MaxIteration != 0)
{
MaxIteration = other.MaxIteration;
}
if (other.MaxLateralAcceleration != 0D)
{
MaxLateralAcceleration = other.MaxLateralAcceleration;
}
if (other.StandstillAcceleration != 0D)
{
StandstillAcceleration = other.StandstillAcceleration;
}
if (other.ThrottleDeadzone != 0D)
{
ThrottleDeadzone = other.ThrottleDeadzone;
}
if (other.BrakeDeadzone != 0D)
{
BrakeDeadzone = other.BrakeDeadzone;
}
if (other.latErrGainScheduler_ != null)
{
if (latErrGainScheduler_ == null)
{
latErrGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
LatErrGainScheduler.MergeFrom(other.LatErrGainScheduler);
}
if (other.headingErrGainScheduler_ != null)
{
if (headingErrGainScheduler_ == null)
{
headingErrGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
HeadingErrGainScheduler.MergeFrom(other.HeadingErrGainScheduler);
}
if (other.steerWeightGainScheduler_ != null)
{
if (steerWeightGainScheduler_ == null)
{
steerWeightGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
SteerWeightGainScheduler.MergeFrom(other.SteerWeightGainScheduler);
}
if (other.feedforwardtermGainScheduler_ != null)
{
if (feedforwardtermGainScheduler_ == null)
{
feedforwardtermGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
FeedforwardtermGainScheduler.MergeFrom(other.FeedforwardtermGainScheduler);
}
if (other.calibrationTable_ != null)
{
if (calibrationTable_ == null)
{
calibrationTable_ = new global::Apollo.Control.Calibrationtable.ControlCalibrationTable();
}
CalibrationTable.MergeFrom(other.CalibrationTable);
}
}
public void MergeFrom(LatControllerConf other)
{
if (other == null)
{
return;
}
if (other.Ts != 0D)
{
Ts = other.Ts;
}
if (other.PreviewWindow != 0)
{
PreviewWindow = other.PreviewWindow;
}
if (other.Cf != 0D)
{
Cf = other.Cf;
}
if (other.Cr != 0D)
{
Cr = other.Cr;
}
if (other.MassFl != 0)
{
MassFl = other.MassFl;
}
if (other.MassFr != 0)
{
MassFr = other.MassFr;
}
if (other.MassRl != 0)
{
MassRl = other.MassRl;
}
if (other.MassRr != 0)
{
MassRr = other.MassRr;
}
if (other.Eps != 0D)
{
Eps = other.Eps;
}
matrixQ_.Add(other.matrixQ_);
reverseMatrixQ_.Add(other.reverseMatrixQ_);
if (other.CutoffFreq != 0)
{
CutoffFreq = other.CutoffFreq;
}
if (other.MeanFilterWindowSize != 0)
{
MeanFilterWindowSize = other.MeanFilterWindowSize;
}
if (other.MaxIteration != 0)
{
MaxIteration = other.MaxIteration;
}
if (other.MaxLateralAcceleration != 0D)
{
MaxLateralAcceleration = other.MaxLateralAcceleration;
}
if (other.latErrGainScheduler_ != null)
{
if (latErrGainScheduler_ == null)
{
latErrGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
LatErrGainScheduler.MergeFrom(other.LatErrGainScheduler);
}
if (other.headingErrGainScheduler_ != null)
{
if (headingErrGainScheduler_ == null)
{
headingErrGainScheduler_ = new global::Apollo.Control.GainScheduler();
}
HeadingErrGainScheduler.MergeFrom(other.HeadingErrGainScheduler);
}
}