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00047 #ifndef __pcl_ros__MLSCONFIG_H__
00048 #define __pcl_ros__MLSCONFIG_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 pcl_ros
00058 {
00059 class MLSConfigStatics;
00060
00061 class MLSConfig
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(MLSConfig &config, const MLSConfig &max, const MLSConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const MLSConfig &config1, const MLSConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, MLSConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const MLSConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MLSConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const MLSConfig &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 MLSConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (MLSConfig::* field);
00099
00100 virtual void clamp(MLSConfig &config, const MLSConfig &max, const MLSConfig &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 MLSConfig &config1, const MLSConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, MLSConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const MLSConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MLSConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const MLSConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int spatial_locator;
00138
00139 double search_radius;
00140
00141 bool use_polynomial_fit;
00142
00143 int polynomial_order;
00144
00145 double gaussian_parameter;
00146
00147
00148 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00149 {
00150 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00151 int count = 0;
00152 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00153 if ((*i)->fromMessage(msg, *this))
00154 count++;
00155 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00156 {
00157 ROS_ERROR("MLSConfig::__fromMessage__ called with an unexpected parameter.");
00158 ROS_ERROR("Booleans:");
00159 for (unsigned int i = 0; i < msg.bools.size(); i++)
00160 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00161 ROS_ERROR("Integers:");
00162 for (unsigned int i = 0; i < msg.ints.size(); i++)
00163 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00164 ROS_ERROR("Doubles:");
00165 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00166 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00167 ROS_ERROR("Strings:");
00168 for (unsigned int i = 0; i < msg.strs.size(); i++)
00169 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00170
00171
00172 return false;
00173 }
00174 return true;
00175 }
00176
00177
00178
00179 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00180 {
00181 dynamic_reconfigure::ConfigTools::clear(msg);
00182 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00183 (*i)->toMessage(msg, *this);
00184 }
00185
00186 void __toMessage__(dynamic_reconfigure::Config &msg) const
00187 {
00188 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00189 __toMessage__(msg, __param_descriptions__);
00190 }
00191
00192 void __toServer__(const ros::NodeHandle &nh) const
00193 {
00194 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00195 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00196 (*i)->toServer(nh, *this);
00197 }
00198
00199 void __fromServer__(const ros::NodeHandle &nh)
00200 {
00201 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00202 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00203 (*i)->fromServer(nh, *this);
00204 }
00205
00206 void __clamp__()
00207 {
00208 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00209 const MLSConfig &__max__ = __getMax__();
00210 const MLSConfig &__min__ = __getMin__();
00211 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00212 (*i)->clamp(*this, __max__, __min__);
00213 }
00214
00215 uint32_t __level__(const MLSConfig &config) const
00216 {
00217 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00218 uint32_t level = 0;
00219 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00220 (*i)->calcLevel(level, config, *this);
00221 return level;
00222 }
00223
00224 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00225 static const MLSConfig &__getDefault__();
00226 static const MLSConfig &__getMax__();
00227 static const MLSConfig &__getMin__();
00228 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00229
00230 private:
00231 static const MLSConfigStatics *__get_statics__();
00232 };
00233
00234 template <>
00235 inline void MLSConfig::ParamDescription<std::string>::clamp(MLSConfig &config, const MLSConfig &max, const MLSConfig &min) const
00236 {
00237 return;
00238 }
00239
00240 class MLSConfigStatics
00241 {
00242 friend class MLSConfig;
00243
00244 MLSConfigStatics()
00245 {
00246
00247 __min__.spatial_locator = 0;
00248
00249 __max__.spatial_locator = 2;
00250
00251 __default__.spatial_locator = 0;
00252
00253 __param_descriptions__.push_back(MLSConfig::AbstractParamDescriptionConstPtr(new MLSConfig::ParamDescription<int>("spatial_locator", "int", 0, "Set the spatial locator", "{'enum_description': 'Set the spatial locator', 'enum': [{'srcline': 11, 'description': 'ANN', 'srcfile': '../cfg/MLS.cfg', 'cconsttype': 'const int', 'value': 0, 'ctype': 'int', 'type': 'int', 'name': 'ANN'}, {'srcline': 11, 'description': 'FLANN', 'srcfile': '../cfg/MLS.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'FLANN'}, {'srcline': 11, 'description': 'Dense/organized data locator', 'srcfile': '../cfg/MLS.cfg', 'cconsttype': 'const int', 'value': 2, 'ctype': 'int', 'type': 'int', 'name': 'organized'}]}", &MLSConfig::spatial_locator)));
00254
00255 __min__.search_radius = 0.0;
00256
00257 __max__.search_radius = 0.5;
00258
00259 __default__.search_radius = 0.02;
00260
00261 __param_descriptions__.push_back(MLSConfig::AbstractParamDescriptionConstPtr(new MLSConfig::ParamDescription<double>("search_radius", "double", 0, "Sphere radius for nearest neighbor search", "", &MLSConfig::search_radius)));
00262
00263 __min__.use_polynomial_fit = 0;
00264
00265 __max__.use_polynomial_fit = 1;
00266
00267 __default__.use_polynomial_fit = 1;
00268
00269 __param_descriptions__.push_back(MLSConfig::AbstractParamDescriptionConstPtr(new MLSConfig::ParamDescription<bool>("use_polynomial_fit", "bool", 0, "Whether to use polynomial fit", "", &MLSConfig::use_polynomial_fit)));
00270
00271 __min__.polynomial_order = 0;
00272
00273 __max__.polynomial_order = 5;
00274
00275 __default__.polynomial_order = 2;
00276
00277 __param_descriptions__.push_back(MLSConfig::AbstractParamDescriptionConstPtr(new MLSConfig::ParamDescription<int>("polynomial_order", "int", 0, "Set the spatial locator", "", &MLSConfig::polynomial_order)));
00278
00279 __min__.gaussian_parameter = 0.0;
00280
00281 __max__.gaussian_parameter = 0.5;
00282
00283 __default__.gaussian_parameter = 0.02;
00284
00285 __param_descriptions__.push_back(MLSConfig::AbstractParamDescriptionConstPtr(new MLSConfig::ParamDescription<double>("gaussian_parameter", "double", 0, "How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit)", "", &MLSConfig::gaussian_parameter)));
00286
00287
00288 for (std::vector<MLSConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00289 __description_message__.parameters.push_back(**i);
00290 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00291 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00292 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00293 }
00294 std::vector<MLSConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00295 MLSConfig __max__;
00296 MLSConfig __min__;
00297 MLSConfig __default__;
00298 dynamic_reconfigure::ConfigDescription __description_message__;
00299 static const MLSConfigStatics *get_instance()
00300 {
00301
00302
00303
00304
00305 static MLSConfigStatics instance;
00306 return &instance;
00307 }
00308 };
00309
00310 inline const dynamic_reconfigure::ConfigDescription &MLSConfig::__getDescriptionMessage__()
00311 {
00312 return __get_statics__()->__description_message__;
00313 }
00314
00315 inline const MLSConfig &MLSConfig::__getDefault__()
00316 {
00317 return __get_statics__()->__default__;
00318 }
00319
00320 inline const MLSConfig &MLSConfig::__getMax__()
00321 {
00322 return __get_statics__()->__max__;
00323 }
00324
00325 inline const MLSConfig &MLSConfig::__getMin__()
00326 {
00327 return __get_statics__()->__min__;
00328 }
00329
00330 inline const std::vector<MLSConfig::AbstractParamDescriptionConstPtr> &MLSConfig::__getParamDescriptions__()
00331 {
00332 return __get_statics__()->__param_descriptions__;
00333 }
00334
00335 inline const MLSConfigStatics *MLSConfig::__get_statics__()
00336 {
00337 const static MLSConfigStatics *statics;
00338
00339 if (statics)
00340 return statics;
00341
00342 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00343
00344 if (statics)
00345 return statics;
00346
00347 statics = MLSConfigStatics::get_instance();
00348
00349 return statics;
00350 }
00351
00352
00353 const int MLS_ANN = 0;
00354
00355 const int MLS_FLANN = 1;
00356
00357 const int MLS_organized = 2;
00358 }
00359
00360 #endif // __MLSRECONFIGURATOR_H__
