AutoCar  v1.0.0
MoveBaseConfig.h
1 //#line 2 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
2 // *********************************************************
3 //
4 // File autogenerated for the move_base package
5 // by the dynamic_reconfigure package.
6 // Please do not edit.
7 //
8 // ********************************************************/
9 
10 #ifndef __move_base__MOVEBASECONFIG_H__
11 #define __move_base__MOVEBASECONFIG_H__
12 
13 #include <dynamic_reconfigure/config_tools.h>
14 #include <limits>
15 #include <ros/node_handle.h>
16 #include <dynamic_reconfigure/ConfigDescription.h>
17 #include <dynamic_reconfigure/ParamDescription.h>
18 #include <dynamic_reconfigure/Group.h>
19 #include <dynamic_reconfigure/config_init_mutex.h>
20 #include <boost/any.hpp>
21 
22 namespace move_base
23 {
24  class MoveBaseConfigStatics;
25 
27  {
28  public:
29  class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
30  {
31  public:
32  AbstractParamDescription(std::string n, std::string t, uint32_t l,
33  std::string d, std::string e)
34  {
35  name = n;
36  type = t;
37  level = l;
38  description = d;
39  edit_method = e;
40  }
41 
42  virtual void clamp(MoveBaseConfig &config, const MoveBaseConfig &max, const MoveBaseConfig &min) const = 0;
43  virtual void calcLevel(uint32_t &level, const MoveBaseConfig &config1, const MoveBaseConfig &config2) const = 0;
44  virtual void fromServer(const ros::NodeHandle &nh, MoveBaseConfig &config) const = 0;
45  virtual void toServer(const ros::NodeHandle &nh, const MoveBaseConfig &config) const = 0;
46  virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MoveBaseConfig &config) const = 0;
47  virtual void toMessage(dynamic_reconfigure::Config &msg, const MoveBaseConfig &config) const = 0;
48  virtual void getValue(const MoveBaseConfig &config, boost::any &val) const = 0;
49  };
50 
51  typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
52  typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
53 
54  template <class T>
56  {
57  public:
58  ParamDescription(std::string name, std::string type, uint32_t level,
59  std::string description, std::string edit_method, T MoveBaseConfig::* f) :
60  AbstractParamDescription(name, type, level, description, edit_method),
61  field(f)
62  {}
63 
64  T (MoveBaseConfig::* field);
65 
66  virtual void clamp(MoveBaseConfig &config, const MoveBaseConfig &max, const MoveBaseConfig &min) const
67  {
68  if (config.*field > max.*field)
69  config.*field = max.*field;
70 
71  if (config.*field < min.*field)
72  config.*field = min.*field;
73  }
74 
75  virtual void calcLevel(uint32_t &comb_level, const MoveBaseConfig &config1, const MoveBaseConfig &config2) const
76  {
77  if (config1.*field != config2.*field)
78  comb_level |= level;
79  }
80 
81  virtual void fromServer(const ros::NodeHandle &nh, MoveBaseConfig &config) const
82  {
83  nh.getParam(name, config.*field);
84  }
85 
86  virtual void toServer(const ros::NodeHandle &nh, const MoveBaseConfig &config) const
87  {
88  nh.setParam(name, config.*field);
89  }
90 
91  virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MoveBaseConfig &config) const
92  {
93  return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
94  }
95 
96  virtual void toMessage(dynamic_reconfigure::Config &msg, const MoveBaseConfig &config) const
97  {
98  dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
99  }
100 
101  virtual void getValue(const MoveBaseConfig &config, boost::any &val) const
102  {
103  val = config.*field;
104  }
105  };
106 
107  class AbstractGroupDescription : public dynamic_reconfigure::Group
108  {
109  public:
110  AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
111  {
112  name = n;
113  type = t;
114  parent = p;
115  state = s;
116  id = i;
117  }
118 
119  std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
120  bool state;
121 
122  virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
123  virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
124  virtual void updateParams(boost::any &cfg, MoveBaseConfig &top) const= 0;
125  virtual void setInitialState(boost::any &cfg) const = 0;
126 
127 
128  void convertParams()
129  {
130  for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
131  {
132  parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
133  }
134  }
135  };
136 
137  typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
138  typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
139 
140  template<class T, class PT>
142  {
143  public:
144  GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
145  {
146  }
147 
148  GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
149  {
150  parameters = g.parameters;
151  abstract_parameters = g.abstract_parameters;
152  }
153 
154  virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
155  {
156  PT* config = boost::any_cast<PT*>(cfg);
157  if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
158  return false;
159 
160  for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
161  {
162  boost::any n = &((*config).*field);
163  if(!(*i)->fromMessage(msg, n))
164  return false;
165  }
166 
167  return true;
168  }
169 
170  virtual void setInitialState(boost::any &cfg) const
171  {
172  PT* config = boost::any_cast<PT*>(cfg);
173  T* group = &((*config).*field);
174  group->state = state;
175 
176  for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
177  {
178  boost::any n = boost::any(&((*config).*field));
179  (*i)->setInitialState(n);
180  }
181 
182  }
183 
184  virtual void updateParams(boost::any &cfg, MoveBaseConfig &top) const
185  {
186  PT* config = boost::any_cast<PT*>(cfg);
187 
188  T* f = &((*config).*field);
189  f->setParams(top, abstract_parameters);
190 
191  for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
192  {
193  boost::any n = &((*config).*field);
194  (*i)->updateParams(n, top);
195  }
196  }
197 
198  virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
199  {
200  const PT config = boost::any_cast<PT>(cfg);
201  dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
202 
203  for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
204  {
205  (*i)->toMessage(msg, config.*field);
206  }
207  }
208 
209  T (PT::* field);
210  std::vector<MoveBaseConfig::AbstractGroupDescriptionConstPtr> groups;
211  };
212 
213 class DEFAULT
214 {
215  public:
216  DEFAULT()
217  {
218  state = true;
219  name = "Default";
220  }
221 
222  void setParams(MoveBaseConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
223  {
224  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
225  {
226  boost::any val;
227  (*_i)->getValue(config, val);
228 
229  if("base_global_planner"==(*_i)->name){base_global_planner = boost::any_cast<std::string>(val);}
230  if("base_local_planner"==(*_i)->name){base_local_planner = boost::any_cast<std::string>(val);}
231  if("planner_frequency"==(*_i)->name){planner_frequency = boost::any_cast<double>(val);}
232  if("controller_frequency"==(*_i)->name){controller_frequency = boost::any_cast<double>(val);}
233  if("planner_patience"==(*_i)->name){planner_patience = boost::any_cast<double>(val);}
234  if("controller_patience"==(*_i)->name){controller_patience = boost::any_cast<double>(val);}
235  if("conservative_reset_dist"==(*_i)->name){conservative_reset_dist = boost::any_cast<double>(val);}
236  if("recovery_behavior_enabled"==(*_i)->name){recovery_behavior_enabled = boost::any_cast<bool>(val);}
237  if("clearing_rotation_allowed"==(*_i)->name){clearing_rotation_allowed = boost::any_cast<bool>(val);}
238  if("shutdown_costmaps"==(*_i)->name){shutdown_costmaps = boost::any_cast<bool>(val);}
239  if("oscillation_timeout"==(*_i)->name){oscillation_timeout = boost::any_cast<double>(val);}
240  if("oscillation_distance"==(*_i)->name){oscillation_distance = boost::any_cast<double>(val);}
241  if("restore_defaults"==(*_i)->name){restore_defaults = boost::any_cast<bool>(val);}
242  }
243  }
244 
245  std::string base_global_planner;
246 std::string base_local_planner;
247 double planner_frequency;
248 double controller_frequency;
249 double planner_patience;
250 double controller_patience;
251 double conservative_reset_dist;
252 bool recovery_behavior_enabled;
253 bool clearing_rotation_allowed;
254 bool shutdown_costmaps;
255 double oscillation_timeout;
256 double oscillation_distance;
257 bool restore_defaults;
258 
259  bool state;
260  std::string name;
261 
262 
263 }groups;
264 
265 
266 
267 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
268  std::string base_global_planner;
269 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
270  std::string base_local_planner;
271 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
272  double planner_frequency;
273 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
274  double controller_frequency;
275 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
276  double planner_patience;
277 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
278  double controller_patience;
279 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
280  double conservative_reset_dist;
281 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
282  bool recovery_behavior_enabled;
283 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
284  bool clearing_rotation_allowed;
285 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
286  bool shutdown_costmaps;
287 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
288  double oscillation_timeout;
289 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
290  double oscillation_distance;
291 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
292  bool restore_defaults;
293 //#line 218 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
294 
295  bool __fromMessage__(dynamic_reconfigure::Config &msg)
296  {
297  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
298  const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
299 
300  int count = 0;
301  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
302  if ((*i)->fromMessage(msg, *this))
303  count++;
304 
305  for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
306  {
307  if ((*i)->id == 0)
308  {
309  boost::any n = boost::any(this);
310  (*i)->updateParams(n, *this);
311  (*i)->fromMessage(msg, n);
312  }
313  }
314 
315  if (count != dynamic_reconfigure::ConfigTools::size(msg))
316  {
317  ROS_ERROR("MoveBaseConfig::__fromMessage__ called with an unexpected parameter.");
318  ROS_ERROR("Booleans:");
319  for (unsigned int i = 0; i < msg.bools.size(); i++)
320  ROS_ERROR(" %s", msg.bools[i].name.c_str());
321  ROS_ERROR("Integers:");
322  for (unsigned int i = 0; i < msg.ints.size(); i++)
323  ROS_ERROR(" %s", msg.ints[i].name.c_str());
324  ROS_ERROR("Doubles:");
325  for (unsigned int i = 0; i < msg.doubles.size(); i++)
326  ROS_ERROR(" %s", msg.doubles[i].name.c_str());
327  ROS_ERROR("Strings:");
328  for (unsigned int i = 0; i < msg.strs.size(); i++)
329  ROS_ERROR(" %s", msg.strs[i].name.c_str());
330  // @todo Check that there are no duplicates. Make this error more
331  // explicit.
332  return false;
333  }
334  return true;
335  }
336 
337  // This version of __toMessage__ is used during initialization of
338  // statics when __getParamDescriptions__ can't be called yet.
339  void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
340  {
341  dynamic_reconfigure::ConfigTools::clear(msg);
342  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
343  (*i)->toMessage(msg, *this);
344 
345  for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
346  {
347  if((*i)->id == 0)
348  {
349  (*i)->toMessage(msg, *this);
350  }
351  }
352  }
353 
354  void __toMessage__(dynamic_reconfigure::Config &msg) const
355  {
356  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
357  const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
358  __toMessage__(msg, __param_descriptions__, __group_descriptions__);
359  }
360 
361  void __toServer__(const ros::NodeHandle &nh) const
362  {
363  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
364  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
365  (*i)->toServer(nh, *this);
366  }
367 
368  void __fromServer__(const ros::NodeHandle &nh)
369  {
370  static bool setup=false;
371 
372  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
373  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
374  (*i)->fromServer(nh, *this);
375 
376  const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
377  for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
378  if (!setup && (*i)->id == 0) {
379  setup = true;
380  boost::any n = boost::any(this);
381  (*i)->setInitialState(n);
382  }
383  }
384  }
385 
386  void __clamp__()
387  {
388  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
389  const MoveBaseConfig &__max__ = __getMax__();
390  const MoveBaseConfig &__min__ = __getMin__();
391  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
392  (*i)->clamp(*this, __max__, __min__);
393  }
394 
395  uint32_t __level__(const MoveBaseConfig &config) const
396  {
397  const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
398  uint32_t level = 0;
399  for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
400  (*i)->calcLevel(level, config, *this);
401  return level;
402  }
403 
404  static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
405  static const MoveBaseConfig &__getDefault__();
406  static const MoveBaseConfig &__getMax__();
407  static const MoveBaseConfig &__getMin__();
408  static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
409  static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
410 
411  private:
412  static const MoveBaseConfigStatics *__get_statics__();
413  };
414 
415  template <> // Max and min are ignored for strings.
417  {
418  return;
419  }
420 
422  {
423  friend class MoveBaseConfig;
424 
426  {
427 MoveBaseConfig::GroupDescription<MoveBaseConfig::DEFAULT, MoveBaseConfig> Default("Default", "", 0, 0, true, &MoveBaseConfig::groups);
428 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
429  __min__.base_global_planner = "";
430 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
431  __max__.base_global_planner = "";
432 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
433  __default__.base_global_planner = "navfn/NavfnROS";
434 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
435  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<std::string>("base_global_planner", "str", 0, "The name of the plugin for the global planner to use with move_base.", "", &MoveBaseConfig::base_global_planner)));
436 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
437  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<std::string>("base_global_planner", "str", 0, "The name of the plugin for the global planner to use with move_base.", "", &MoveBaseConfig::base_global_planner)));
438 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
439  __min__.base_local_planner = "";
440 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
441  __max__.base_local_planner = "";
442 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
443  __default__.base_local_planner = "base_local_planner/TrajectoryPlannerROS";
444 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
445  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<std::string>("base_local_planner", "str", 0, "The name of the plugin for the local planner to use with move_base.", "", &MoveBaseConfig::base_local_planner)));
446 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
447  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<std::string>("base_local_planner", "str", 0, "The name of the plugin for the local planner to use with move_base.", "", &MoveBaseConfig::base_local_planner)));
448 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
449  __min__.planner_frequency = 0.0;
450 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
451  __max__.planner_frequency = 100.0;
452 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
453  __default__.planner_frequency = 0.0;
454 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
455  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("planner_frequency", "double", 0, "The rate in Hz at which to run the planning loop.", "", &MoveBaseConfig::planner_frequency)));
456 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
457  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("planner_frequency", "double", 0, "The rate in Hz at which to run the planning loop.", "", &MoveBaseConfig::planner_frequency)));
458 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
459  __min__.controller_frequency = 0.0;
460 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
461  __max__.controller_frequency = 100.0;
462 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
463  __default__.controller_frequency = 20.0;
464 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
465  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("controller_frequency", "double", 0, "The rate in Hz at which to run the control loop and send velocity commands to the base.", "", &MoveBaseConfig::controller_frequency)));
466 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
467  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("controller_frequency", "double", 0, "The rate in Hz at which to run the control loop and send velocity commands to the base.", "", &MoveBaseConfig::controller_frequency)));
468 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
469  __min__.planner_patience = 0.0;
470 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
471  __max__.planner_patience = 100.0;
472 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
473  __default__.planner_patience = 5.0;
474 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
475  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("planner_patience", "double", 0, "How long the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.", "", &MoveBaseConfig::planner_patience)));
476 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
477  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("planner_patience", "double", 0, "How long the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.", "", &MoveBaseConfig::planner_patience)));
478 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
479  __min__.controller_patience = 0.0;
480 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
481  __max__.controller_patience = 100.0;
482 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
483  __default__.controller_patience = 5.0;
484 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
485  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("controller_patience", "double", 0, "How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed.", "", &MoveBaseConfig::controller_patience)));
486 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
487  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("controller_patience", "double", 0, "How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed.", "", &MoveBaseConfig::controller_patience)));
488 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
489  __min__.conservative_reset_dist = 0.0;
490 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
491  __max__.conservative_reset_dist = 50.0;
492 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
493  __default__.conservative_reset_dist = 3.0;
494 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
495  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("conservative_reset_dist", "double", 0, "The distance away from the robot in meters at which obstacles will be cleared from the costmap when attempting to clear space in the map.", "", &MoveBaseConfig::conservative_reset_dist)));
496 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
497  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("conservative_reset_dist", "double", 0, "The distance away from the robot in meters at which obstacles will be cleared from the costmap when attempting to clear space in the map.", "", &MoveBaseConfig::conservative_reset_dist)));
498 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
499  __min__.recovery_behavior_enabled = 0;
500 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
501  __max__.recovery_behavior_enabled = 1;
502 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
503  __default__.recovery_behavior_enabled = 1;
504 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
505  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("recovery_behavior_enabled", "bool", 0, "Whether or not to enable the move_base recovery behaviors to attempt to clear out space.", "", &MoveBaseConfig::recovery_behavior_enabled)));
506 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
507  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("recovery_behavior_enabled", "bool", 0, "Whether or not to enable the move_base recovery behaviors to attempt to clear out space.", "", &MoveBaseConfig::recovery_behavior_enabled)));
508 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
509  __min__.clearing_rotation_allowed = 0;
510 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
511  __max__.clearing_rotation_allowed = 1;
512 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
513  __default__.clearing_rotation_allowed = 1;
514 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
515  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("clearing_rotation_allowed", "bool", 0, "Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space.", "", &MoveBaseConfig::clearing_rotation_allowed)));
516 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
517  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("clearing_rotation_allowed", "bool", 0, "Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space.", "", &MoveBaseConfig::clearing_rotation_allowed)));
518 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
519  __min__.shutdown_costmaps = 0;
520 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
521  __max__.shutdown_costmaps = 1;
522 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
523  __default__.shutdown_costmaps = 0;
524 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
525  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("shutdown_costmaps", "bool", 0, "Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state", "", &MoveBaseConfig::shutdown_costmaps)));
526 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
527  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("shutdown_costmaps", "bool", 0, "Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state", "", &MoveBaseConfig::shutdown_costmaps)));
528 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
529  __min__.oscillation_timeout = 0.0;
530 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
531  __max__.oscillation_timeout = 60.0;
532 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
533  __default__.oscillation_timeout = 0.0;
534 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
535  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("oscillation_timeout", "double", 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", "", &MoveBaseConfig::oscillation_timeout)));
536 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
537  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("oscillation_timeout", "double", 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", "", &MoveBaseConfig::oscillation_timeout)));
538 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
539  __min__.oscillation_distance = 0.0;
540 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
541  __max__.oscillation_distance = 10.0;
542 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
543  __default__.oscillation_distance = 0.5;
544 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
545  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("oscillation_distance", "double", 0, "How far in meters the robot must move to be considered not to be oscillating.", "", &MoveBaseConfig::oscillation_distance)));
546 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
547  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<double>("oscillation_distance", "double", 0, "How far in meters the robot must move to be considered not to be oscillating.", "", &MoveBaseConfig::oscillation_distance)));
548 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
549  __min__.restore_defaults = 0;
550 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
551  __max__.restore_defaults = 1;
552 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
553  __default__.restore_defaults = 0;
554 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
555  Default.abstract_parameters.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("restore_defaults", "bool", 0, "Restore to the original configuration", "", &MoveBaseConfig::restore_defaults)));
556 //#line 280 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
557  __param_descriptions__.push_back(MoveBaseConfig::AbstractParamDescriptionConstPtr(new MoveBaseConfig::ParamDescription<bool>("restore_defaults", "bool", 0, "Restore to the original configuration", "", &MoveBaseConfig::restore_defaults)));
558 //#line 235 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
559  Default.convertParams();
560 //#line 235 "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
561  __group_descriptions__.push_back(MoveBaseConfig::AbstractGroupDescriptionConstPtr(new MoveBaseConfig::GroupDescription<MoveBaseConfig::DEFAULT, MoveBaseConfig>(Default)));
562 //#line 353 "/opt/ros/kinetic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
563 
564  for (std::vector<MoveBaseConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
565  {
566  __description_message__.groups.push_back(**i);
567  }
568  __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
569  __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
570  __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
571  }
572  std::vector<MoveBaseConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
573  std::vector<MoveBaseConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
574  MoveBaseConfig __max__;
575  MoveBaseConfig __min__;
576  MoveBaseConfig __default__;
577  dynamic_reconfigure::ConfigDescription __description_message__;
578 
579  static const MoveBaseConfigStatics *get_instance()
580  {
581  // Split this off in a separate function because I know that
582  // instance will get initialized the first time get_instance is
583  // called, and I am guaranteeing that get_instance gets called at
584  // most once.
585  static MoveBaseConfigStatics instance;
586  return &instance;
587  }
588  };
589 
590  inline const dynamic_reconfigure::ConfigDescription &MoveBaseConfig::__getDescriptionMessage__()
591  {
592  return __get_statics__()->__description_message__;
593  }
594 
595  inline const MoveBaseConfig &MoveBaseConfig::__getDefault__()
596  {
597  return __get_statics__()->__default__;
598  }
599 
600  inline const MoveBaseConfig &MoveBaseConfig::__getMax__()
601  {
602  return __get_statics__()->__max__;
603  }
604 
605  inline const MoveBaseConfig &MoveBaseConfig::__getMin__()
606  {
607  return __get_statics__()->__min__;
608  }
609 
610  inline const std::vector<MoveBaseConfig::AbstractParamDescriptionConstPtr> &MoveBaseConfig::__getParamDescriptions__()
611  {
612  return __get_statics__()->__param_descriptions__;
613  }
614 
615  inline const std::vector<MoveBaseConfig::AbstractGroupDescriptionConstPtr> &MoveBaseConfig::__getGroupDescriptions__()
616  {
617  return __get_statics__()->__group_descriptions__;
618  }
619 
620  inline const MoveBaseConfigStatics *MoveBaseConfig::__get_statics__()
621  {
622  const static MoveBaseConfigStatics *statics;
623 
624  if (statics) // Common case
625  return statics;
626 
627  boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
628 
629  if (statics) // In case we lost a race.
630  return statics;
631 
632  statics = MoveBaseConfigStatics::get_instance();
633 
634  return statics;
635  }
636 
637 
638 }
639 
640 #endif // __MOVEBASERECONFIGURATOR_H__
Definition: MoveBaseConfig.h:421
Definition: MoveBaseConfig.h:26
Definition: MoveBaseConfig.h:141
Definition: MoveBaseConfig.h:55
Definition: MoveBaseConfig.h:22
Definition: MoveBaseConfig.h:213