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00047 #ifndef __art_nav__NAVIGATORCONFIG_H__
00048 #define __art_nav__NAVIGATORCONFIG_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 art_nav
00058 {
00059 class NavigatorConfigStatics;
00060
00061 class NavigatorConfig
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(NavigatorConfig &config, const NavigatorConfig &max, const NavigatorConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const NavigatorConfig &config1, const NavigatorConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, NavigatorConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const NavigatorConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, NavigatorConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const NavigatorConfig &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 NavigatorConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (NavigatorConfig::* field);
00099
00100 virtual void clamp(NavigatorConfig &config, const NavigatorConfig &max, const NavigatorConfig &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 NavigatorConfig &config1, const NavigatorConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, NavigatorConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const NavigatorConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, NavigatorConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const NavigatorConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double blockage_timeout_secs;
00138
00139 double close_stopping_distance;
00140
00141 double desired_following_time;
00142
00143 double heading_change_ratio;
00144
00145 double initialize_distance;
00146
00147 double initialize_min_angle;
00148
00149 double lane_change_secs;
00150
00151 double lane_width_ratio;
00152
00153 double lookahead_distance;
00154
00155 double lost_speed;
00156
00157 double max_creep_distance;
00158
00159 double max_deceleration;
00160
00161 double max_speed;
00162
00163 double max_speed_for_sharp;
00164
00165 double max_yaw_rate;
00166
00167 double min_approach_speed;
00168
00169 double min_curve_length;
00170
00171 double min_following_time;
00172
00173 double min_lane_steer_dist;
00174
00175 double min_speed_for_curves;
00176
00177 double min_stop_distance;
00178
00179 bool offensive_driving;
00180
00181 double passing_delay;
00182
00183 double precedence_delay;
00184
00185 double real_max_yaw_rate;
00186
00187 double roadblock_delay;
00188
00189 double spot_waypoint_radius;
00190
00191 double spring_lookahead;
00192
00193 double stop_approach_speed;
00194
00195 double stop_creep_speed;
00196
00197 double stop_deceleration;
00198
00199 double stop_distance;
00200
00201 double stop_latency;
00202
00203 double stop_line_delay;
00204
00205 double turning_heading_tune;
00206
00207 double turning_int_tune;
00208
00209 double turning_latency;
00210
00211 double turning_offset_tune;
00212
00213 double uturn_speed;
00214
00215 double uturn_stop_heading;
00216
00217 double uturn_threshold;
00218
00219 double uturn_yaw_rate;
00220
00221 double zone_waypoint_radius;
00222
00223
00224 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00225 {
00226 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00227 int count = 0;
00228 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00229 if ((*i)->fromMessage(msg, *this))
00230 count++;
00231 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00232 {
00233 ROS_ERROR("NavigatorConfig::__fromMessage__ called with an unexpected parameter.");
00234 ROS_ERROR("Booleans:");
00235 for (unsigned int i = 0; i < msg.bools.size(); i++)
00236 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00237 ROS_ERROR("Integers:");
00238 for (unsigned int i = 0; i < msg.ints.size(); i++)
00239 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00240 ROS_ERROR("Doubles:");
00241 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00242 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00243 ROS_ERROR("Strings:");
00244 for (unsigned int i = 0; i < msg.strs.size(); i++)
00245 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00246
00247
00248 return false;
00249 }
00250 return true;
00251 }
00252
00253
00254
00255 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00256 {
00257 dynamic_reconfigure::ConfigTools::clear(msg);
00258 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00259 (*i)->toMessage(msg, *this);
00260 }
00261
00262 void __toMessage__(dynamic_reconfigure::Config &msg) const
00263 {
00264 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00265 __toMessage__(msg, __param_descriptions__);
00266 }
00267
00268 void __toServer__(const ros::NodeHandle &nh) const
00269 {
00270 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00271 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00272 (*i)->toServer(nh, *this);
00273 }
00274
00275 void __fromServer__(const ros::NodeHandle &nh)
00276 {
00277 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00278 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00279 (*i)->fromServer(nh, *this);
00280 }
00281
00282 void __clamp__()
00283 {
00284 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00285 const NavigatorConfig &__max__ = __getMax__();
00286 const NavigatorConfig &__min__ = __getMin__();
00287 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00288 (*i)->clamp(*this, __max__, __min__);
00289 }
00290
00291 uint32_t __level__(const NavigatorConfig &config) const
00292 {
00293 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00294 uint32_t level = 0;
00295 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00296 (*i)->calcLevel(level, config, *this);
00297 return level;
00298 }
00299
00300 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00301 static const NavigatorConfig &__getDefault__();
00302 static const NavigatorConfig &__getMax__();
00303 static const NavigatorConfig &__getMin__();
00304 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00305
00306 private:
00307 static const NavigatorConfigStatics *__get_statics__();
00308 };
00309
00310 template <>
00311 inline void NavigatorConfig::ParamDescription<std::string>::clamp(NavigatorConfig &config, const NavigatorConfig &max, const NavigatorConfig &min) const
00312 {
00313 return;
00314 }
00315
00316 class NavigatorConfigStatics
00317 {
00318 friend class NavigatorConfig;
00319
00320 NavigatorConfigStatics()
00321 {
00322
00323 __min__.blockage_timeout_secs = 0.0;
00324
00325 __max__.blockage_timeout_secs = 20.0;
00326
00327 __default__.blockage_timeout_secs = 9.0;
00328
00329 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("blockage_timeout_secs", "double", 0, "Blockage timeout (s)", "", &NavigatorConfig::blockage_timeout_secs)));
00330
00331 __min__.close_stopping_distance = 5.0;
00332
00333 __max__.close_stopping_distance = 20.0;
00334
00335 __default__.close_stopping_distance = 15.3;
00336
00337 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("close_stopping_distance", "double", 0, "Distance to stop from an obstacle (m)", "", &NavigatorConfig::close_stopping_distance)));
00338
00339 __min__.desired_following_time = 0.0;
00340
00341 __max__.desired_following_time = 10.0;
00342
00343 __default__.desired_following_time = 5.0;
00344
00345 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("desired_following_time", "double", 0, "Desired following time (s)", "", &NavigatorConfig::desired_following_time)));
00346
00347 __min__.heading_change_ratio = 0.0;
00348
00349 __max__.heading_change_ratio = 1.0;
00350
00351 __default__.heading_change_ratio = 0.75;
00352
00353 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("heading_change_ratio", "double", 0, "Heading change ratio", "", &NavigatorConfig::heading_change_ratio)));
00354
00355 __min__.initialize_distance = 0.0;
00356
00357 __max__.initialize_distance = 30.0;
00358
00359 __default__.initialize_distance = 10.0;
00360
00361 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("initialize_distance", "double", 0, "Initialize look ahead distance (m)", "", &NavigatorConfig::initialize_distance)));
00362
00363 __min__.initialize_min_angle = 0.0;
00364
00365 __max__.initialize_min_angle = 3.14159265359;
00366
00367 __default__.initialize_min_angle = 0.785398163397;
00368
00369 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("initialize_min_angle", "double", 0, "Initialize minimum angle (radians)", "", &NavigatorConfig::initialize_min_angle)));
00370
00371 __min__.lane_change_secs = 0.0;
00372
00373 __max__.lane_change_secs = 8.0;
00374
00375 __default__.lane_change_secs = 2.0;
00376
00377 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("lane_change_secs", "double", 0, "Lane change target (seconds ahead)", "", &NavigatorConfig::lane_change_secs)));
00378
00379 __min__.lane_width_ratio = 0.01;
00380
00381 __max__.lane_width_ratio = 1.0;
00382
00383 __default__.lane_width_ratio = 0.3;
00384
00385 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("lane_width_ratio", "double", 0, "Lane width ration (fraction)", "", &NavigatorConfig::lane_width_ratio)));
00386
00387 __min__.lookahead_distance = 0.0;
00388
00389 __max__.lookahead_distance = 200.0;
00390
00391 __default__.lookahead_distance = 100.0;
00392
00393 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("lookahead_distance", "double", 0, "Turn lookahead distance (m)", "", &NavigatorConfig::lookahead_distance)));
00394
00395 __min__.lost_speed = 1.0;
00396
00397 __max__.lost_speed = 5.0;
00398
00399 __default__.lost_speed = 2.0;
00400
00401 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("lost_speed", "double", 0, "Speed when lost (m/s)", "", &NavigatorConfig::lost_speed)));
00402
00403 __min__.max_creep_distance = 0.0;
00404
00405 __max__.max_creep_distance = 5.0;
00406
00407 __default__.max_creep_distance = 4.8;
00408
00409 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("max_creep_distance", "double", 0, "Distance for which to creep (m)", "", &NavigatorConfig::max_creep_distance)));
00410
00411 __min__.max_deceleration = 0.1;
00412
00413 __max__.max_deceleration = 4.0;
00414
00415 __default__.max_deceleration = 0.4;
00416
00417 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("max_deceleration", "double", 0, "turn max deceleration (m/s^2)", "", &NavigatorConfig::max_deceleration)));
00418
00419 __min__.max_speed = 0.0;
00420
00421 __max__.max_speed = 25.0;
00422
00423 __default__.max_speed = 15.0;
00424
00425 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("max_speed", "double", 0, "Maximum speed ever to request (m/s)", "", &NavigatorConfig::max_speed)));
00426
00427 __min__.max_speed_for_sharp = 1.0;
00428
00429 __max__.max_speed_for_sharp = 8.0;
00430
00431 __default__.max_speed_for_sharp = 3.0;
00432
00433 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("max_speed_for_sharp", "double", 0, "Maximum speed for sharpest possible turn (m/s)", "", &NavigatorConfig::max_speed_for_sharp)));
00434
00435 __min__.max_yaw_rate = 0.01;
00436
00437 __max__.max_yaw_rate = 2.0;
00438
00439 __default__.max_yaw_rate = 0.15;
00440
00441 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("max_yaw_rate", "double", 0, "turn max yaw rate (radians/s)", "", &NavigatorConfig::max_yaw_rate)));
00442
00443 __min__.min_approach_speed = 0.0;
00444
00445 __max__.min_approach_speed = 5.0;
00446
00447 __default__.min_approach_speed = 2.0;
00448
00449 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_approach_speed", "double", 0, "Minimum approach speed considered dangerous (m/s)", "", &NavigatorConfig::min_approach_speed)));
00450
00451 __min__.min_curve_length = 1.0;
00452
00453 __max__.min_curve_length = 5.0;
00454
00455 __default__.min_curve_length = 1.5;
00456
00457 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_curve_length", "double", 0, "Minimum curve length for turn (m)", "", &NavigatorConfig::min_curve_length)));
00458
00459 __min__.min_following_time = 0.0;
00460
00461 __max__.min_following_time = 10.0;
00462
00463 __default__.min_following_time = 3.0;
00464
00465 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_following_time", "double", 0, "Minimum following time (s)", "", &NavigatorConfig::min_following_time)));
00466
00467 __min__.min_lane_steer_dist = 0.0;
00468
00469 __max__.min_lane_steer_dist = 16.0;
00470
00471 __default__.min_lane_steer_dist = 7.0;
00472
00473 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_lane_steer_dist", "double", 0, "Minimum lane steering distance (m)", "", &NavigatorConfig::min_lane_steer_dist)));
00474
00475 __min__.min_speed_for_curves = 1.0;
00476
00477 __max__.min_speed_for_curves = 5.0;
00478
00479 __default__.min_speed_for_curves = 3.0;
00480
00481 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_speed_for_curves", "double", 0, "Minimum speed when slowing for curves (m/s)", "", &NavigatorConfig::min_speed_for_curves)));
00482
00483 __min__.min_stop_distance = 0.0;
00484
00485 __max__.min_stop_distance = 25.0;
00486
00487 __default__.min_stop_distance = 5.0;
00488
00489 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("min_stop_distance", "double", 0, "Minimum distance to begin stopping (m)", "", &NavigatorConfig::min_stop_distance)));
00490
00491 __min__.offensive_driving = 0;
00492
00493 __max__.offensive_driving = 1;
00494
00495 __default__.offensive_driving = 0;
00496
00497 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<bool>("offensive_driving", "bool", 0, "Drive aggressively (defensively if false)", "", &NavigatorConfig::offensive_driving)));
00498
00499 __min__.passing_delay = 0.0;
00500
00501 __max__.passing_delay = 10.0;
00502
00503 __default__.passing_delay = 5.0;
00504
00505 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("passing_delay", "double", 0, "Wait time before passing (s)", "", &NavigatorConfig::passing_delay)));
00506
00507 __min__.precedence_delay = 0.0;
00508
00509 __max__.precedence_delay = 30.0;
00510
00511 __default__.precedence_delay = 10.0;
00512
00513 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("precedence_delay", "double", 0, "Wait time for intersection precedence (s)", "", &NavigatorConfig::precedence_delay)));
00514
00515 __min__.real_max_yaw_rate = 0.1;
00516
00517 __max__.real_max_yaw_rate = 2.0;
00518
00519 __default__.real_max_yaw_rate = 0.9;
00520
00521 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("real_max_yaw_rate", "double", 0, "Real maximum yaw rate (radians/s)", "", &NavigatorConfig::real_max_yaw_rate)));
00522
00523 __min__.roadblock_delay = 0.0;
00524
00525 __max__.roadblock_delay = 10.0;
00526
00527 __default__.roadblock_delay = 5.0;
00528
00529 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("roadblock_delay", "double", 0, "Wait time for road blockage (s)", "", &NavigatorConfig::roadblock_delay)));
00530
00531 __min__.spot_waypoint_radius = 0.1;
00532
00533 __max__.spot_waypoint_radius = 4.0;
00534
00535 __default__.spot_waypoint_radius = 0.5;
00536
00537 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("spot_waypoint_radius", "double", 0, "Spot waypoint radius (m)", "", &NavigatorConfig::spot_waypoint_radius)));
00538
00539 __min__.spring_lookahead = 0.0;
00540
00541 __max__.spring_lookahead = 8.0;
00542
00543 __default__.spring_lookahead = 0.0;
00544
00545 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("spring_lookahead", "double", 0, "Spring lookahead distance (m)", "", &NavigatorConfig::spring_lookahead)));
00546
00547 __min__.stop_approach_speed = 1.0;
00548
00549 __max__.stop_approach_speed = 5.0;
00550
00551 __default__.stop_approach_speed = 3.0;
00552
00553 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_approach_speed", "double", 0, "Stop line approach speed (m/s)", "", &NavigatorConfig::stop_approach_speed)));
00554
00555 __min__.stop_creep_speed = 0.5;
00556
00557 __max__.stop_creep_speed = 3.0;
00558
00559 __default__.stop_creep_speed = 1.0;
00560
00561 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_creep_speed", "double", 0, "Speed while creeping to stop (m/s)", "", &NavigatorConfig::stop_creep_speed)));
00562
00563 __min__.stop_deceleration = 0.05;
00564
00565 __max__.stop_deceleration = 4.0;
00566
00567 __default__.stop_deceleration = 2.0;
00568
00569 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_deceleration", "double", 0, "Desired stopping deceleration (m/s^2)", "", &NavigatorConfig::stop_deceleration)));
00570
00571 __min__.stop_distance = 0.0;
00572
00573 __max__.stop_distance = 4.0;
00574
00575 __default__.stop_distance = 2.0;
00576
00577 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_distance", "double", 0, "Desired stopping distance (m)", "", &NavigatorConfig::stop_distance)));
00578
00579 __min__.stop_latency = 0.0;
00580
00581 __max__.stop_latency = 4.0;
00582
00583 __default__.stop_latency = 0.0;
00584
00585 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_latency", "double", 0, "Brake latency for stopping (s)", "", &NavigatorConfig::stop_latency)));
00586
00587 __min__.stop_line_delay = 0.0;
00588
00589 __max__.stop_line_delay = 10.0;
00590
00591 __default__.stop_line_delay = 1.0;
00592
00593 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("stop_line_delay", "double", 0, "Delay when stop line reached (s)", "", &NavigatorConfig::stop_line_delay)));
00594
00595 __min__.turning_heading_tune = 0.0;
00596
00597 __max__.turning_heading_tune = 1.0;
00598
00599 __default__.turning_heading_tune = 0.5;
00600
00601 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("turning_heading_tune", "double", 0, "yaw tuning parameter (heading)", "", &NavigatorConfig::turning_heading_tune)));
00602
00603 __min__.turning_int_tune = 0.0;
00604
00605 __max__.turning_int_tune = 4.0;
00606
00607 __default__.turning_int_tune = 1.25;
00608
00609 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("turning_int_tune", "double", 0, "yaw tuning parameter (integral)", "", &NavigatorConfig::turning_int_tune)));
00610
00611 __min__.turning_latency = 0.0;
00612
00613 __max__.turning_latency = 4.0;
00614
00615 __default__.turning_latency = 1.0;
00616
00617 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("turning_latency", "double", 0, "Turning latency time (s)", "", &NavigatorConfig::turning_latency)));
00618
00619 __min__.turning_offset_tune = 0.0;
00620
00621 __max__.turning_offset_tune = 1.0;
00622
00623 __default__.turning_offset_tune = 0.5;
00624
00625 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("turning_offset_tune", "double", 0, "Yaw tuning parameter (offset)", "", &NavigatorConfig::turning_offset_tune)));
00626
00627 __min__.uturn_speed = 1.0;
00628
00629 __max__.uturn_speed = 4.0;
00630
00631 __default__.uturn_speed = 2.0;
00632
00633 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("uturn_speed", "double", 0, "U-turn speed (m/s)", "", &NavigatorConfig::uturn_speed)));
00634
00635 __min__.uturn_stop_heading = 0.0;
00636
00637 __max__.uturn_stop_heading = 3.14159265359;
00638
00639 __default__.uturn_stop_heading = 0.785398163397;
00640
00641 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("uturn_stop_heading", "double", 0, "U-turn stop heading (radians)", "", &NavigatorConfig::uturn_stop_heading)));
00642
00643 __min__.uturn_threshold = 0.0;
00644
00645 __max__.uturn_threshold = 4.0;
00646
00647 __default__.uturn_threshold = 1.0;
00648
00649 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("uturn_threshold", "double", 0, "U-turn threshold (m)", "", &NavigatorConfig::uturn_threshold)));
00650
00651 __min__.uturn_yaw_rate = 0.5;
00652
00653 __max__.uturn_yaw_rate = 3.0;
00654
00655 __default__.uturn_yaw_rate = 1.5;
00656
00657 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("uturn_yaw_rate", "double", 0, "U-turn yaw rate (radians/s)", "", &NavigatorConfig::uturn_yaw_rate)));
00658
00659 __min__.zone_waypoint_radius = 0.1;
00660
00661 __max__.zone_waypoint_radius = 4.0;
00662
00663 __default__.zone_waypoint_radius = 1.0;
00664
00665 __param_descriptions__.push_back(NavigatorConfig::AbstractParamDescriptionConstPtr(new NavigatorConfig::ParamDescription<double>("zone_waypoint_radius", "double", 0, "Zone waypoint radius (m)", "", &NavigatorConfig::zone_waypoint_radius)));
00666
00667
00668 for (std::vector<NavigatorConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00669 __description_message__.parameters.push_back(**i);
00670 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00671 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00672 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00673 }
00674 std::vector<NavigatorConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00675 NavigatorConfig __max__;
00676 NavigatorConfig __min__;
00677 NavigatorConfig __default__;
00678 dynamic_reconfigure::ConfigDescription __description_message__;
00679 static const NavigatorConfigStatics *get_instance()
00680 {
00681
00682
00683
00684
00685 static NavigatorConfigStatics instance;
00686 return &instance;
00687 }
00688 };
00689
00690 inline const dynamic_reconfigure::ConfigDescription &NavigatorConfig::__getDescriptionMessage__()
00691 {
00692 return __get_statics__()->__description_message__;
00693 }
00694
00695 inline const NavigatorConfig &NavigatorConfig::__getDefault__()
00696 {
00697 return __get_statics__()->__default__;
00698 }
00699
00700 inline const NavigatorConfig &NavigatorConfig::__getMax__()
00701 {
00702 return __get_statics__()->__max__;
00703 }
00704
00705 inline const NavigatorConfig &NavigatorConfig::__getMin__()
00706 {
00707 return __get_statics__()->__min__;
00708 }
00709
00710 inline const std::vector<NavigatorConfig::AbstractParamDescriptionConstPtr> &NavigatorConfig::__getParamDescriptions__()
00711 {
00712 return __get_statics__()->__param_descriptions__;
00713 }
00714
00715 inline const NavigatorConfigStatics *NavigatorConfig::__get_statics__()
00716 {
00717 const static NavigatorConfigStatics *statics;
00718
00719 if (statics)
00720 return statics;
00721
00722 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00723
00724 if (statics)
00725 return statics;
00726
00727 statics = NavigatorConfigStatics::get_instance();
00728
00729 return statics;
00730 }
00731
00732
00733 }
00734
00735 #endif // __NAVIGATORRECONFIGURATOR_H__
