art_nav: NavigatorConfig.py Source File

00001 ## *********************************************************
00002 ## 
00003 ## File autogenerated for the art_nav package 
00004 ## by the dynamic_reconfigure package.
00005 ## Please do not edit.
00006 ## 
00007 ## ********************************************************/
00008 
00009 ##**********************************************************
00010 ## Software License Agreement (BSD License)
00011 ##
00012 ##  Copyright (c) 2008, Willow Garage, Inc.
00013 ##  All rights reserved.
00014 ##
00015 ##  Redistribution and use in source and binary forms, with or without
00016 ##  modification, are permitted provided that the following conditions
00017 ##  are met:
00018 ##
00019 ##   * Redistributions of source code must retain the above copyright
00020 ##     notice, this list of conditions and the following disclaimer.
00021 ##   * Redistributions in binary form must reproduce the above
00022 ##     copyright notice, this list of conditions and the following
00023 ##     disclaimer in the documentation and/or other materials provided
00024 ##     with the distribution.
00025 ##   * Neither the name of the Willow Garage nor the names of its
00026 ##     contributors may be used to endorse or promote products derived
00027 ##     from this software without specific prior written permission.
00028 ##
00029 ##  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00031 ##  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00036 ##  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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00041 ##**********************************************************/
00042 
00043 config_description = [{'srcline': 55, 'description': 'Blockage timeout (s)', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'blockage_timeout_secs', 'edit_method': '', 'default': 9.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 57, 'description': 'Distance to stop from an obstacle (m)', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'close_stopping_distance', 'edit_method': '', 'default': 15.300000000000001, 'level': 0, 'min': 5.0, 'type': 'double'}, {'srcline': 59, 'description': 'Desired following time (s)', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'desired_following_time', 'edit_method': '', 'default': 5.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 61, 'description': 'Heading change ratio', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'heading_change_ratio', 'edit_method': '', 'default': 0.75, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 63, 'description': 'Initialize look ahead distance (m)', 'max': 30.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'initialize_distance', 'edit_method': '', 'default': 10.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 65, 'description': 'Initialize minimum angle (radians)', 'max': 3.1415926535897931, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'initialize_min_angle', 'edit_method': '', 'default': 0.78539816339744828, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 67, 'description': 'Lane change target (seconds ahead)', 'max': 8.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'lane_change_secs', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 69, 'description': 'Lane width ration (fraction)', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'lane_width_ratio', 'edit_method': '', 'default': 0.29999999999999999, 'level': 0, 'min': 0.01, 'type': 'double'}, {'srcline': 71, 'description': 'Turn lookahead distance (m)', 'max': 200.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'lookahead_distance', 'edit_method': '', 'default': 100.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 73, 'description': 'Speed when lost (m/s)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'lost_speed', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 75, 'description': 'Distance for which to creep (m)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'max_creep_distance', 'edit_method': '', 'default': 4.7999999999999998, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 77, 'description': 'turn max deceleration (m/s^2)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'max_deceleration', 'edit_method': '', 'default': 0.40000000000000002, 'level': 0, 'min': 0.10000000000000001, 'type': 'double'}, {'srcline': 79, 'description': 'Maximum speed ever to request (m/s)', 'max': 25.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'max_speed', 'edit_method': '', 'default': 15.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 81, 'description': 'Maximum speed for sharpest possible turn (m/s)', 'max': 8.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'max_speed_for_sharp', 'edit_method': '', 'default': 3.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 83, 'description': 'turn max yaw rate (radians/s)', 'max': 2.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'max_yaw_rate', 'edit_method': '', 'default': 0.14999999999999999, 'level': 0, 'min': 0.01, 'type': 'double'}, {'srcline': 85, 'description': 'Minimum approach speed considered dangerous (m/s)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_approach_speed', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 87, 'description': 'Minimum curve length for turn (m)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_curve_length', 'edit_method': '', 'default': 1.5, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 89, 'description': 'Minimum following time (s)', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_following_time', 'edit_method': '', 'default': 3.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 91, 'description': 'Minimum lane steering distance (m)', 'max': 16.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_lane_steer_dist', 'edit_method': '', 'default': 7.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 93, 'description': 'Minimum speed when slowing for curves (m/s)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_speed_for_curves', 'edit_method': '', 'default': 3.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 95, 'description': 'Minimum distance to begin stopping (m)', 'max': 25.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'min_stop_distance', 'edit_method': '', 'default': 5.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 97, 'description': 'Drive aggressively (defensively if false)', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/Navigator.cfg', 'name': 'offensive_driving', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 99, 'description': 'Wait time before passing (s)', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'passing_delay', 'edit_method': '', 'default': 5.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 101, 'description': 'Wait time for intersection precedence (s)', 'max': 30.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'precedence_delay', 'edit_method': '', 'default': 10.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 103, 'description': 'Real maximum yaw rate (radians/s)', 'max': 2.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'real_max_yaw_rate', 'edit_method': '', 'default': 0.90000000000000002, 'level': 0, 'min': 0.10000000000000001, 'type': 'double'}, {'srcline': 105, 'description': 'Wait time for road blockage (s)', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'roadblock_delay', 'edit_method': '', 'default': 5.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 107, 'description': 'Spot waypoint radius (m)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'spot_waypoint_radius', 'edit_method': '', 'default': 0.5, 'level': 0, 'min': 0.10000000000000001, 'type': 'double'}, {'srcline': 109, 'description': 'Spring lookahead distance (m)', 'max': 8.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'spring_lookahead', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 111, 'description': 'Stop line approach speed (m/s)', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_approach_speed', 'edit_method': '', 'default': 3.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 113, 'description': 'Speed while creeping to stop (m/s)', 'max': 3.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_creep_speed', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.5, 'type': 'double'}, {'srcline': 115, 'description': 'Desired stopping deceleration (m/s^2)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_deceleration', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 0.050000000000000003, 'type': 'double'}, {'srcline': 117, 'description': 'Desired stopping distance (m)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_distance', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 119, 'description': 'Brake latency for stopping (s)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_latency', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 121, 'description': 'Delay when stop line reached (s)', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'stop_line_delay', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 123, 'description': 'yaw tuning parameter (heading)', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'turning_heading_tune', 'edit_method': '', 'default': 0.5, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 125, 'description': 'yaw tuning parameter (integral)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'turning_int_tune', 'edit_method': '', 'default': 1.25, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 127, 'description': 'Turning latency time (s)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'turning_latency', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 129, 'description': 'Yaw tuning parameter (offset)', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'turning_offset_tune', 'edit_method': '', 'default': 0.5, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 131, 'description': 'U-turn speed (m/s)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'uturn_speed', 'edit_method': '', 'default': 2.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 133, 'description': 'U-turn stop heading (radians)', 'max': 3.1415926535897931, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'uturn_stop_heading', 'edit_method': '', 'default': 0.78539816339744828, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 135, 'description': 'U-turn threshold (m)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'uturn_threshold', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 137, 'description': 'U-turn yaw rate (radians/s)', 'max': 3.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'uturn_yaw_rate', 'edit_method': '', 'default': 1.5, 'level': 0, 'min': 0.5, 'type': 'double'}, {'srcline': 139, 'description': 'Zone waypoint radius (m)', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Navigator.cfg', 'name': 'zone_waypoint_radius', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.10000000000000001, 'type': 'double'}]
00044 
00045 min = {}
00046 max = {}
00047 defaults = {}
00048 level = {}
00049 type = {}
00050 all_level = 0
00051 
00052 for param in config_description:
00053     min[param['name']] = param['min']
00054     max[param['name']] = param['max']
00055     defaults[param['name']] = param['default']
00056     level[param['name']] = param['level']
00057     type[param['name']] = param['type']
00058     all_level = all_level | param['level']
00059