art_pilot: PilotConfig.py Source File

00001 ## *********************************************************
00002 ## 
00003 ## File autogenerated for the art_pilot package 
00004 ## by the dynamic_reconfigure package.
00005 ## Please do not edit.
00006 ## 
00007 ## ********************************************************/
00008 
00009 ##**********************************************************
00010 ## Software License Agreement (BSD License)
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00012 ##  Copyright (c) 2008, Willow Garage, Inc.
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00014 ##
00015 ##  Redistribution and use in source and binary forms, with or without
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00042 
00043 config_description = [{'srcline': 60, 'description': 'Acceleration controller.', 'max': 2147483647, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/Pilot.cfg', 'name': 'acceleration_controller', 'edit_method': "{'enum_description': 'Acceleration controller options', 'enum': [{'srcline': 50, 'description': 'Plan-based controller', 'srcfile': '../cfg/Pilot.cfg', 'cconsttype': 'const int', 'value': 0, 'ctype': 'int', 'type': 'int', 'name': 'Accel_Plan'}, {'srcline': 51, 'description': 'Acceleration control example', 'srcfile': '../cfg/Pilot.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'Accel_Example'}, {'srcline': 52, 'description': 'Speed control PID', 'srcfile': '../cfg/Pilot.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'Speed_PID'}, {'srcline': 53, 'description': 'Speed control matrix', 'srcfile': '../cfg/Pilot.cfg', 'cconsttype': 'const int', 'value': 3, 'ctype': 'int', 'type': 'int', 'name': 'Speed_Matrix'}, {'srcline': 54, 'description': 'Learned speed control', 'srcfile': '../cfg/Pilot.cfg', 'cconsttype': 'const int', 'value': 4, 'ctype': 'int', 'type': 'int', 'name': 'Speed_Learned'}]}", 'default': 0, 'level': 3, 'min': -2147483648, 'type': 'int'}, {'srcline': 63, 'description': 'Brake hold command when stopped.', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'brake_hold', 'edit_method': '', 'default': 0.69999999999999996, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 67, 'description': 'Allow human driver to steer (otherwise pilot steers the car).', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/Pilot.cfg', 'name': 'human_steering', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 70, 'description': 'Speed limit going forward (m/s).', 'max': 25.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'limit_forward', 'edit_method': '', 'default': 14.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 73, 'description': 'Speed limit going in reverse (m/s).', 'max': 4.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'limit_reverse', 'edit_method': '', 'default': 3.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 76, 'description': 'Device message timeout (s).', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'timeout', 'edit_method': '', 'default': 0.5, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 79, 'description': 'Brake PID proportional gain (Kp).', 'max': 0.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'brake_kp', 'edit_method': '', 'default': -0.20000000000000001, 'level': 0, 'min': -10.0, 'type': 'double'}, {'srcline': 82, 'description': 'Brake PID integral gain (Ki).', 'max': 0.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'brake_ki', 'edit_method': '', 'default': -0.00020000000000000001, 'level': 0, 'min': -10.0, 'type': 'double'}, {'srcline': 85, 'description': 'Brake PID derivative gain (Kd).', 'max': 0.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'brake_kd', 'edit_method': '', 'default': -1.6000000000000001, 'level': 0, 'min': -10.0, 'type': 'double'}, {'srcline': 88, 'description': 'Throttle PID proportional gain (Kp).', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'throttle_kp', 'edit_method': '', 'default': 0.12, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 91, 'description': 'Throttle PID integral gain (Ki).', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'throttle_ki', 'edit_method': '', 'default': 0.001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 94, 'description': 'Throttle PID derivative gain (Kd).', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/Pilot.cfg', 'name': 'throttle_kd', 'edit_method': '', 'default': 0.54000000000000004, 'level': 0, 'min': 0.0, '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 
00060 Pilot_Accel_Plan = 0
00061 Pilot_Accel_Example = 1
00062 Pilot_Speed_PID = 2
00063 Pilot_Speed_Matrix = 3
00064 Pilot_Speed_Learned = 4