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00047 #ifndef __costmap_2d__COSTMAP2DCONFIG_H__
00048 #define __costmap_2d__COSTMAP2DCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace costmap_2d
00058 {
00059 class Costmap2DConfigStatics;
00060
00061 class Costmap2DConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(Costmap2DConfig &config, const Costmap2DConfig &max, const Costmap2DConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const Costmap2DConfig &config1, const Costmap2DConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, Costmap2DConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const Costmap2DConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, Costmap2DConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const Costmap2DConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T Costmap2DConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (Costmap2DConfig::* field);
00099
00100 virtual void clamp(Costmap2DConfig &config, const Costmap2DConfig &max, const Costmap2DConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const Costmap2DConfig &config1, const Costmap2DConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, Costmap2DConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const Costmap2DConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, Costmap2DConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const Costmap2DConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double transform_tolerance;
00138
00139 double update_frequency;
00140
00141 double publish_frequency;
00142
00143 double max_obstacle_height;
00144
00145 double max_obstacle_range;
00146
00147 double raytrace_range;
00148
00149 double cost_scaling_factor;
00150
00151 double inflation_radius;
00152
00153 std::string footprint;
00154
00155 double robot_radius;
00156
00157 bool static_map;
00158
00159 bool rolling_window;
00160
00161 int unknown_cost_value;
00162
00163 int width;
00164
00165 int height;
00166
00167 double resolution;
00168
00169 double origin_x;
00170
00171 double origin_y;
00172
00173 bool publish_voxel_map;
00174
00175 int lethal_cost_threshold;
00176
00177 std::string map_topic;
00178
00179 std::string map_type;
00180
00181 double origin_z;
00182
00183 double z_resolution;
00184
00185 int z_voxels;
00186
00187 int unknown_threshold;
00188
00189 int mark_threshold;
00190
00191 bool track_unknown_space;
00192
00193 bool restore_defaults;
00194
00195
00196 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00197 {
00198 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00199 int count = 0;
00200 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00201 if ((*i)->fromMessage(msg, *this))
00202 count++;
00203 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00204 {
00205 ROS_ERROR("Costmap2DConfig::__fromMessage__ called with an unexpected parameter.");
00206 ROS_ERROR("Booleans:");
00207 for (unsigned int i = 0; i < msg.bools.size(); i++)
00208 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00209 ROS_ERROR("Integers:");
00210 for (unsigned int i = 0; i < msg.ints.size(); i++)
00211 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00212 ROS_ERROR("Doubles:");
00213 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00214 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00215 ROS_ERROR("Strings:");
00216 for (unsigned int i = 0; i < msg.strs.size(); i++)
00217 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00218
00219
00220 return false;
00221 }
00222 return true;
00223 }
00224
00225
00226
00227 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00228 {
00229 dynamic_reconfigure::ConfigTools::clear(msg);
00230 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00231 (*i)->toMessage(msg, *this);
00232 }
00233
00234 void __toMessage__(dynamic_reconfigure::Config &msg) const
00235 {
00236 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00237 __toMessage__(msg, __param_descriptions__);
00238 }
00239
00240 void __toServer__(const ros::NodeHandle &nh) const
00241 {
00242 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00243 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00244 (*i)->toServer(nh, *this);
00245 }
00246
00247 void __fromServer__(const ros::NodeHandle &nh)
00248 {
00249 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00250 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00251 (*i)->fromServer(nh, *this);
00252 }
00253
00254 void __clamp__()
00255 {
00256 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00257 const Costmap2DConfig &__max__ = __getMax__();
00258 const Costmap2DConfig &__min__ = __getMin__();
00259 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00260 (*i)->clamp(*this, __max__, __min__);
00261 }
00262
00263 uint32_t __level__(const Costmap2DConfig &config) const
00264 {
00265 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00266 uint32_t level = 0;
00267 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00268 (*i)->calcLevel(level, config, *this);
00269 return level;
00270 }
00271
00272 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00273 static const Costmap2DConfig &__getDefault__();
00274 static const Costmap2DConfig &__getMax__();
00275 static const Costmap2DConfig &__getMin__();
00276 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00277
00278 private:
00279 static const Costmap2DConfigStatics *__get_statics__();
00280 };
00281
00282 template <>
00283 inline void Costmap2DConfig::ParamDescription<std::string>::clamp(Costmap2DConfig &config, const Costmap2DConfig &max, const Costmap2DConfig &min) const
00284 {
00285 return;
00286 }
00287
00288 class Costmap2DConfigStatics
00289 {
00290 friend class Costmap2DConfig;
00291
00292 Costmap2DConfigStatics()
00293 {
00294
00295 __min__.transform_tolerance = 0.0;
00296
00297 __max__.transform_tolerance = 10.0;
00298
00299 __default__.transform_tolerance = 0.3;
00300
00301 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("transform_tolerance", "double", 0, "Specifies the delay in transform (tf) data that is tolerable in seconds.", "", &Costmap2DConfig::transform_tolerance)));
00302
00303 __min__.update_frequency = 0.0;
00304
00305 __max__.update_frequency = 100.0;
00306
00307 __default__.update_frequency = 5.0;
00308
00309 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("update_frequency", "double", 0, "The frequency in Hz for the map to be updated.", "", &Costmap2DConfig::update_frequency)));
00310
00311 __min__.publish_frequency = 0.0;
00312
00313 __max__.publish_frequency = 100.0;
00314
00315 __default__.publish_frequency = 0.0;
00316
00317 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("publish_frequency", "double", 0, "The frequency in Hz for the map to be publish display information.", "", &Costmap2DConfig::publish_frequency)));
00318
00319 __min__.max_obstacle_height = 0.0;
00320
00321 __max__.max_obstacle_height = 50.0;
00322
00323 __default__.max_obstacle_height = 2.0;
00324
00325 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("max_obstacle_height", "double", 0, "The maximum height of any obstacle to be inserted into the costmap in meters.", "", &Costmap2DConfig::max_obstacle_height)));
00326
00327 __min__.max_obstacle_range = 0.0;
00328
00329 __max__.max_obstacle_range = 50.0;
00330
00331 __default__.max_obstacle_range = 2.5;
00332
00333 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("max_obstacle_range", "double", 0, "The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters.", "", &Costmap2DConfig::max_obstacle_range)));
00334
00335 __min__.raytrace_range = 0.0;
00336
00337 __max__.raytrace_range = 50.0;
00338
00339 __default__.raytrace_range = 3.0;
00340
00341 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("raytrace_range", "double", 0, "The default range in meters at which to raytrace out obstacles from the map using sensor data.", "", &Costmap2DConfig::raytrace_range)));
00342
00343 __min__.cost_scaling_factor = 0.0;
00344
00345 __max__.cost_scaling_factor = 100.0;
00346
00347 __default__.cost_scaling_factor = 10.0;
00348
00349 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("cost_scaling_factor", "double", 0, "A scaling factor to apply to cost values during inflation.", "", &Costmap2DConfig::cost_scaling_factor)));
00350
00351 __min__.inflation_radius = 0.0;
00352
00353 __max__.inflation_radius = 50.0;
00354
00355 __default__.inflation_radius = 0.55;
00356
00357 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("inflation_radius", "double", 0, "The radius in meters to which the map inflates obstacle cost values.", "", &Costmap2DConfig::inflation_radius)));
00358
00359 __min__.footprint = "";
00360
00361 __max__.footprint = "";
00362
00363 __default__.footprint = "[]";
00364
00365 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<std::string>("footprint", "str", 0, "The footprint of the robot specified in the robot_base_frame coordinate frame as a list in the format: [ [x1, y1], [x2, y2], ...., [xn, yn] ].", "", &Costmap2DConfig::footprint)));
00366
00367 __min__.robot_radius = 0.0;
00368
00369 __max__.robot_radius = 10.0;
00370
00371 __default__.robot_radius = 0.46;
00372
00373 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("robot_radius", "double", 0, "The radius of the robot in meters, this parameter should only be set for circular robots, all others should use the footprint parameter described above.", "", &Costmap2DConfig::robot_radius)));
00374
00375 __min__.static_map = 0;
00376
00377 __max__.static_map = 1;
00378
00379 __default__.static_map = 1;
00380
00381 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<bool>("static_map", "bool", 0, "Whether or not to use the static map to initialize the costmap.", "", &Costmap2DConfig::static_map)));
00382
00383 __min__.rolling_window = 0;
00384
00385 __max__.rolling_window = 1;
00386
00387 __default__.rolling_window = 0;
00388
00389 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<bool>("rolling_window", "bool", 0, "Whether or not to use a rolling window version of the costmap.", "", &Costmap2DConfig::rolling_window)));
00390
00391 __min__.unknown_cost_value = 0;
00392
00393 __max__.unknown_cost_value = 255;
00394
00395 __default__.unknown_cost_value = 0;
00396
00397 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("unknown_cost_value", "int", 0, "The value for which a cost should be considered unknown when reading in a map from the map server.", "", &Costmap2DConfig::unknown_cost_value)));
00398
00399 __min__.width = 0;
00400
00401 __max__.width = 20;
00402
00403 __default__.width = 0;
00404
00405 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("width", "int", 0, "The width of the map in meters.", "", &Costmap2DConfig::width)));
00406
00407 __min__.height = 0;
00408
00409 __max__.height = 20;
00410
00411 __default__.height = 10;
00412
00413 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("height", "int", 0, "The height of the map in meters.", "", &Costmap2DConfig::height)));
00414
00415 __min__.resolution = 0.0;
00416
00417 __max__.resolution = 50.0;
00418
00419 __default__.resolution = 0.05;
00420
00421 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("resolution", "double", 0, "The resolution of the map in meters/cell.", "", &Costmap2DConfig::resolution)));
00422
00423 __min__.origin_x = 0.0;
00424
00425 __max__.origin_x = std::numeric_limits<double>::infinity();
00426
00427 __default__.origin_x = 0.0;
00428
00429 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("origin_x", "double", 0, "The x origin of the map in the global frame in meters.", "", &Costmap2DConfig::origin_x)));
00430
00431 __min__.origin_y = 0.0;
00432
00433 __max__.origin_y = std::numeric_limits<double>::infinity();
00434
00435 __default__.origin_y = 0.0;
00436
00437 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("origin_y", "double", 0, "The y origin of the map in the global frame in meters.", "", &Costmap2DConfig::origin_y)));
00438
00439 __min__.publish_voxel_map = 0;
00440
00441 __max__.publish_voxel_map = 1;
00442
00443 __default__.publish_voxel_map = 0;
00444
00445 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<bool>("publish_voxel_map", "bool", 0, "Whether or not to publish the underlying voxel grid for visualization purposes.", "", &Costmap2DConfig::publish_voxel_map)));
00446
00447 __min__.lethal_cost_threshold = 0;
00448
00449 __max__.lethal_cost_threshold = 255;
00450
00451 __default__.lethal_cost_threshold = 100;
00452
00453 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("lethal_cost_threshold", "int", 0, "The threshold value at which to consider a cost lethal when reading in a map from the map server.", "", &Costmap2DConfig::lethal_cost_threshold)));
00454
00455 __min__.map_topic = "";
00456
00457 __max__.map_topic = "";
00458
00459 __default__.map_topic = "map";
00460
00461 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<std::string>("map_topic", "str", 0, "The topic that the costmap subscribes to for the static map.", "", &Costmap2DConfig::map_topic)));
00462
00463 __min__.map_type = "";
00464
00465 __max__.map_type = "";
00466
00467 __default__.map_type = "costmap";
00468
00469 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<std::string>("map_type", "str", 0, "What map type to use. voxel or costmap are the supported types", "{'enum_description': 'An enum to set the map type', 'enum': [{'srcline': 13, 'description': 'Use VoxelCostmap2D', 'srcfile': '../cfg/Costmap2D.cfg', 'cconsttype': 'const char * const', 'value': 'voxel', 'ctype': 'std::string', 'type': 'str', 'name': 'voxel_const'}, {'srcline': 13, 'description': 'Use Costmap2D', 'srcfile': '../cfg/Costmap2D.cfg', 'cconsttype': 'const char * const', 'value': 'costmap', 'ctype': 'std::string', 'type': 'str', 'name': 'costmap_const'}]}", &Costmap2DConfig::map_type)));
00470
00471 __min__.origin_z = 0.0;
00472
00473 __max__.origin_z = std::numeric_limits<double>::infinity();
00474
00475 __default__.origin_z = 0.0;
00476
00477 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("origin_z", "double", 0, "The z origin of the map in meters.", "", &Costmap2DConfig::origin_z)));
00478
00479 __min__.z_resolution = 0.0;
00480
00481 __max__.z_resolution = 50.0;
00482
00483 __default__.z_resolution = 0.2;
00484
00485 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<double>("z_resolution", "double", 0, "The z resolution of the map in meters/cell.", "", &Costmap2DConfig::z_resolution)));
00486
00487 __min__.z_voxels = 0;
00488
00489 __max__.z_voxels = 16;
00490
00491 __default__.z_voxels = 10;
00492
00493 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("z_voxels", "int", 0, "The number of voxels to in each vertical column.", "", &Costmap2DConfig::z_voxels)));
00494
00495 __min__.unknown_threshold = 0;
00496
00497 __max__.unknown_threshold = 16;
00498
00499 __default__.unknown_threshold = 15;
00500
00501 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("unknown_threshold", "int", 0, "The number of unknown cells allowed in a column considered to be known", "", &Costmap2DConfig::unknown_threshold)));
00502
00503 __min__.mark_threshold = 0;
00504
00505 __max__.mark_threshold = 16;
00506
00507 __default__.mark_threshold = 0;
00508
00509 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<int>("mark_threshold", "int", 0, "The maximum number of marked cells allowed in a column considered to be free", "", &Costmap2DConfig::mark_threshold)));
00510
00511 __min__.track_unknown_space = 0;
00512
00513 __max__.track_unknown_space = 1;
00514
00515 __default__.track_unknown_space = 0;
00516
00517 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<bool>("track_unknown_space", "bool", 0, "Specifies whether or not to track what space in the costmap is unknown", "", &Costmap2DConfig::track_unknown_space)));
00518
00519 __min__.restore_defaults = 0;
00520
00521 __max__.restore_defaults = 1;
00522
00523 __default__.restore_defaults = 0;
00524
00525 __param_descriptions__.push_back(Costmap2DConfig::AbstractParamDescriptionConstPtr(new Costmap2DConfig::ParamDescription<bool>("restore_defaults", "bool", 0, "Restore to the original configuration", "", &Costmap2DConfig::restore_defaults)));
00526
00527
00528 for (std::vector<Costmap2DConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00529 __description_message__.parameters.push_back(**i);
00530 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00531 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00532 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00533 }
00534 std::vector<Costmap2DConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00535 Costmap2DConfig __max__;
00536 Costmap2DConfig __min__;
00537 Costmap2DConfig __default__;
00538 dynamic_reconfigure::ConfigDescription __description_message__;
00539 static const Costmap2DConfigStatics *get_instance()
00540 {
00541
00542
00543
00544
00545 static Costmap2DConfigStatics instance;
00546 return &instance;
00547 }
00548 };
00549
00550 inline const dynamic_reconfigure::ConfigDescription &Costmap2DConfig::__getDescriptionMessage__()
00551 {
00552 return __get_statics__()->__description_message__;
00553 }
00554
00555 inline const Costmap2DConfig &Costmap2DConfig::__getDefault__()
00556 {
00557 return __get_statics__()->__default__;
00558 }
00559
00560 inline const Costmap2DConfig &Costmap2DConfig::__getMax__()
00561 {
00562 return __get_statics__()->__max__;
00563 }
00564
00565 inline const Costmap2DConfig &Costmap2DConfig::__getMin__()
00566 {
00567 return __get_statics__()->__min__;
00568 }
00569
00570 inline const std::vector<Costmap2DConfig::AbstractParamDescriptionConstPtr> &Costmap2DConfig::__getParamDescriptions__()
00571 {
00572 return __get_statics__()->__param_descriptions__;
00573 }
00574
00575 inline const Costmap2DConfigStatics *Costmap2DConfig::__get_statics__()
00576 {
00577 const static Costmap2DConfigStatics *statics;
00578
00579 if (statics)
00580 return statics;
00581
00582 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00583
00584 if (statics)
00585 return statics;
00586
00587 statics = Costmap2DConfigStatics::get_instance();
00588
00589 return statics;
00590 }
00591
00592
00593 const char * const Costmap2D_voxel_const = "voxel";
00594
00595 const char * const Costmap2D_costmap_const = "costmap";
00596 }
00597
00598 #endif // __COSTMAP2DRECONFIGURATOR_H__
