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00047 #ifndef __pcl_ros__VOXELGRIDCONFIG_H__
00048 #define __pcl_ros__VOXELGRIDCONFIG_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 VoxelGridConfigStatics;
00060
00061 class VoxelGridConfig
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(VoxelGridConfig &config, const VoxelGridConfig &max, const VoxelGridConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const VoxelGridConfig &config1, const VoxelGridConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, VoxelGridConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const VoxelGridConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, VoxelGridConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const VoxelGridConfig &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 VoxelGridConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (VoxelGridConfig::* field);
00099
00100 virtual void clamp(VoxelGridConfig &config, const VoxelGridConfig &max, const VoxelGridConfig &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 VoxelGridConfig &config1, const VoxelGridConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, VoxelGridConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const VoxelGridConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, VoxelGridConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const VoxelGridConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double leaf_size;
00138
00139 std::string filter_field_name;
00140
00141 double filter_limit_min;
00142
00143 double filter_limit_max;
00144
00145 bool filter_limit_negative;
00146
00147 std::string input_frame;
00148
00149 std::string output_frame;
00150
00151
00152 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00153 {
00154 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00155 int count = 0;
00156 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00157 if ((*i)->fromMessage(msg, *this))
00158 count++;
00159 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00160 {
00161 ROS_ERROR("VoxelGridConfig::__fromMessage__ called with an unexpected parameter.");
00162 ROS_ERROR("Booleans:");
00163 for (unsigned int i = 0; i < msg.bools.size(); i++)
00164 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00165 ROS_ERROR("Integers:");
00166 for (unsigned int i = 0; i < msg.ints.size(); i++)
00167 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00168 ROS_ERROR("Doubles:");
00169 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00170 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00171 ROS_ERROR("Strings:");
00172 for (unsigned int i = 0; i < msg.strs.size(); i++)
00173 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00174
00175
00176 return false;
00177 }
00178 return true;
00179 }
00180
00181
00182
00183 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00184 {
00185 dynamic_reconfigure::ConfigTools::clear(msg);
00186 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00187 (*i)->toMessage(msg, *this);
00188 }
00189
00190 void __toMessage__(dynamic_reconfigure::Config &msg) const
00191 {
00192 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00193 __toMessage__(msg, __param_descriptions__);
00194 }
00195
00196 void __toServer__(const ros::NodeHandle &nh) const
00197 {
00198 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00199 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00200 (*i)->toServer(nh, *this);
00201 }
00202
00203 void __fromServer__(const ros::NodeHandle &nh)
00204 {
00205 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00206 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00207 (*i)->fromServer(nh, *this);
00208 }
00209
00210 void __clamp__()
00211 {
00212 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00213 const VoxelGridConfig &__max__ = __getMax__();
00214 const VoxelGridConfig &__min__ = __getMin__();
00215 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00216 (*i)->clamp(*this, __max__, __min__);
00217 }
00218
00219 uint32_t __level__(const VoxelGridConfig &config) const
00220 {
00221 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00222 uint32_t level = 0;
00223 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00224 (*i)->calcLevel(level, config, *this);
00225 return level;
00226 }
00227
00228 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00229 static const VoxelGridConfig &__getDefault__();
00230 static const VoxelGridConfig &__getMax__();
00231 static const VoxelGridConfig &__getMin__();
00232 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00233
00234 private:
00235 static const VoxelGridConfigStatics *__get_statics__();
00236 };
00237
00238 template <>
00239 inline void VoxelGridConfig::ParamDescription<std::string>::clamp(VoxelGridConfig &config, const VoxelGridConfig &max, const VoxelGridConfig &min) const
00240 {
00241 return;
00242 }
00243
00244 class VoxelGridConfigStatics
00245 {
00246 friend class VoxelGridConfig;
00247
00248 VoxelGridConfigStatics()
00249 {
00250
00251 __min__.leaf_size = 0.0;
00252
00253 __max__.leaf_size = 1.0;
00254
00255 __default__.leaf_size = 0.01;
00256
00257 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<double>("leaf_size", "double", 0, "The size of a leaf (on x,y,z) used for downsampling.", "", &VoxelGridConfig::leaf_size)));
00258
00259 __min__.filter_field_name = "";
00260
00261 __max__.filter_field_name = "";
00262
00263 __default__.filter_field_name = "z";
00264
00265 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<std::string>("filter_field_name", "str", 0, "The field name used for filtering", "", &VoxelGridConfig::filter_field_name)));
00266
00267 __min__.filter_limit_min = -5.0;
00268
00269 __max__.filter_limit_min = 5.0;
00270
00271 __default__.filter_limit_min = 0.0;
00272
00273 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<double>("filter_limit_min", "double", 0, "The minimum allowed field value a point will be considered from", "", &VoxelGridConfig::filter_limit_min)));
00274
00275 __min__.filter_limit_max = -5.0;
00276
00277 __max__.filter_limit_max = 5.0;
00278
00279 __default__.filter_limit_max = 1.0;
00280
00281 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<double>("filter_limit_max", "double", 0, "The maximum allowed field value a point will be considered from", "", &VoxelGridConfig::filter_limit_max)));
00282
00283 __min__.filter_limit_negative = 0;
00284
00285 __max__.filter_limit_negative = 1;
00286
00287 __default__.filter_limit_negative = 0;
00288
00289 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<bool>("filter_limit_negative", "bool", 0, "Set to true if we want to return the data outside [filter_limit_min; filter_limit_max].", "", &VoxelGridConfig::filter_limit_negative)));
00290
00291 __min__.input_frame = "";
00292
00293 __max__.input_frame = "";
00294
00295 __default__.input_frame = "";
00296
00297 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<std::string>("input_frame", "str", 0, "The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.", "", &VoxelGridConfig::input_frame)));
00298
00299 __min__.output_frame = "";
00300
00301 __max__.output_frame = "";
00302
00303 __default__.output_frame = "";
00304
00305 __param_descriptions__.push_back(VoxelGridConfig::AbstractParamDescriptionConstPtr(new VoxelGridConfig::ParamDescription<std::string>("output_frame", "str", 0, "The output TF frame the data should be transformed into after processing, if input.header.frame_id is different.", "", &VoxelGridConfig::output_frame)));
00306
00307
00308 for (std::vector<VoxelGridConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00309 __description_message__.parameters.push_back(**i);
00310 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00311 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00312 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00313 }
00314 std::vector<VoxelGridConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00315 VoxelGridConfig __max__;
00316 VoxelGridConfig __min__;
00317 VoxelGridConfig __default__;
00318 dynamic_reconfigure::ConfigDescription __description_message__;
00319 static const VoxelGridConfigStatics *get_instance()
00320 {
00321
00322
00323
00324
00325 static VoxelGridConfigStatics instance;
00326 return &instance;
00327 }
00328 };
00329
00330 inline const dynamic_reconfigure::ConfigDescription &VoxelGridConfig::__getDescriptionMessage__()
00331 {
00332 return __get_statics__()->__description_message__;
00333 }
00334
00335 inline const VoxelGridConfig &VoxelGridConfig::__getDefault__()
00336 {
00337 return __get_statics__()->__default__;
00338 }
00339
00340 inline const VoxelGridConfig &VoxelGridConfig::__getMax__()
00341 {
00342 return __get_statics__()->__max__;
00343 }
00344
00345 inline const VoxelGridConfig &VoxelGridConfig::__getMin__()
00346 {
00347 return __get_statics__()->__min__;
00348 }
00349
00350 inline const std::vector<VoxelGridConfig::AbstractParamDescriptionConstPtr> &VoxelGridConfig::__getParamDescriptions__()
00351 {
00352 return __get_statics__()->__param_descriptions__;
00353 }
00354
00355 inline const VoxelGridConfigStatics *VoxelGridConfig::__get_statics__()
00356 {
00357 const static VoxelGridConfigStatics *statics;
00358
00359 if (statics)
00360 return statics;
00361
00362 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00363
00364 if (statics)
00365 return statics;
00366
00367 statics = VoxelGridConfigStatics::get_instance();
00368
00369 return statics;
00370 }
00371
00372
00373 }
00374
00375 #endif // __VOXELGRIDRECONFIGURATOR_H__
