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00047 #ifndef __image_rotate__IMAGEROTATECONFIG_H__
00048 #define __image_rotate__IMAGEROTATECONFIG_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 image_rotate
00058 {
00059 class ImageRotateConfigStatics;
00060
00061 class ImageRotateConfig
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(ImageRotateConfig &config, const ImageRotateConfig &max, const ImageRotateConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const ImageRotateConfig &config1, const ImageRotateConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, ImageRotateConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const ImageRotateConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ImageRotateConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const ImageRotateConfig &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 ImageRotateConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (ImageRotateConfig::* field);
00099
00100 virtual void clamp(ImageRotateConfig &config, const ImageRotateConfig &max, const ImageRotateConfig &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 ImageRotateConfig &config1, const ImageRotateConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, ImageRotateConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const ImageRotateConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ImageRotateConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const ImageRotateConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 std::string target_frame_id;
00138
00139 double target_x;
00140
00141 double target_y;
00142
00143 double target_z;
00144
00145 std::string source_frame_id;
00146
00147 double source_x;
00148
00149 double source_y;
00150
00151 double source_z;
00152
00153 std::string output_frame_id;
00154
00155 std::string input_frame_id;
00156
00157 bool use_camera_info;
00158
00159 double max_angular_rate;
00160
00161 double output_image_size;
00162
00163
00164 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00165 {
00166 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00167 int count = 0;
00168 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00169 if ((*i)->fromMessage(msg, *this))
00170 count++;
00171 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00172 {
00173 ROS_ERROR("ImageRotateConfig::__fromMessage__ called with an unexpected parameter.");
00174 ROS_ERROR("Booleans:");
00175 for (unsigned int i = 0; i < msg.bools.size(); i++)
00176 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00177 ROS_ERROR("Integers:");
00178 for (unsigned int i = 0; i < msg.ints.size(); i++)
00179 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00180 ROS_ERROR("Doubles:");
00181 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00182 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00183 ROS_ERROR("Strings:");
00184 for (unsigned int i = 0; i < msg.strs.size(); i++)
00185 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00186
00187
00188 return false;
00189 }
00190 return true;
00191 }
00192
00193
00194
00195 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00196 {
00197 dynamic_reconfigure::ConfigTools::clear(msg);
00198 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00199 (*i)->toMessage(msg, *this);
00200 }
00201
00202 void __toMessage__(dynamic_reconfigure::Config &msg) const
00203 {
00204 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00205 __toMessage__(msg, __param_descriptions__);
00206 }
00207
00208 void __toServer__(const ros::NodeHandle &nh) const
00209 {
00210 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00211 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00212 (*i)->toServer(nh, *this);
00213 }
00214
00215 void __fromServer__(const ros::NodeHandle &nh)
00216 {
00217 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00218 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00219 (*i)->fromServer(nh, *this);
00220 }
00221
00222 void __clamp__()
00223 {
00224 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00225 const ImageRotateConfig &__max__ = __getMax__();
00226 const ImageRotateConfig &__min__ = __getMin__();
00227 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00228 (*i)->clamp(*this, __max__, __min__);
00229 }
00230
00231 uint32_t __level__(const ImageRotateConfig &config) const
00232 {
00233 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00234 uint32_t level = 0;
00235 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00236 (*i)->calcLevel(level, config, *this);
00237 return level;
00238 }
00239
00240 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00241 static const ImageRotateConfig &__getDefault__();
00242 static const ImageRotateConfig &__getMax__();
00243 static const ImageRotateConfig &__getMin__();
00244 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00245
00246 private:
00247 static const ImageRotateConfigStatics *__get_statics__();
00248 };
00249
00250 template <>
00251 inline void ImageRotateConfig::ParamDescription<std::string>::clamp(ImageRotateConfig &config, const ImageRotateConfig &max, const ImageRotateConfig &min) const
00252 {
00253 return;
00254 }
00255
00256 class ImageRotateConfigStatics
00257 {
00258 friend class ImageRotateConfig;
00259
00260 ImageRotateConfigStatics()
00261 {
00262
00263 __min__.target_frame_id = "";
00264
00265 __max__.target_frame_id = "";
00266
00267 __default__.target_frame_id = "base_link";
00268
00269 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<std::string>("target_frame_id", "str", 0, "Frame in which the target vector is specified. Empty means the input frame.", "", &ImageRotateConfig::target_frame_id)));
00270
00271 __min__.target_x = -10.0;
00272
00273 __max__.target_x = 10.0;
00274
00275 __default__.target_x = 0.0;
00276
00277 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("target_x", "double", 0, "X coordinate of the target vector", "", &ImageRotateConfig::target_x)));
00278
00279 __min__.target_y = -10.0;
00280
00281 __max__.target_y = 10.0;
00282
00283 __default__.target_y = 0.0;
00284
00285 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("target_y", "double", 0, "Y coordinate of the target vector", "", &ImageRotateConfig::target_y)));
00286
00287 __min__.target_z = -10.0;
00288
00289 __max__.target_z = 10.0;
00290
00291 __default__.target_z = 1.0;
00292
00293 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("target_z", "double", 0, "Z coordinate of the target vector", "", &ImageRotateConfig::target_z)));
00294
00295 __min__.source_frame_id = "";
00296
00297 __max__.source_frame_id = "";
00298
00299 __default__.source_frame_id = "";
00300
00301 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<std::string>("source_frame_id", "str", 0, "Frame in which the source vector is specified. Empty means the input frame.", "", &ImageRotateConfig::source_frame_id)));
00302
00303 __min__.source_x = -10.0;
00304
00305 __max__.source_x = 10.0;
00306
00307 __default__.source_x = 0.0;
00308
00309 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("source_x", "double", 0, "X coordinate of the direction the target should be aligned with.", "", &ImageRotateConfig::source_x)));
00310
00311 __min__.source_y = -10.0;
00312
00313 __max__.source_y = 10.0;
00314
00315 __default__.source_y = -1.0;
00316
00317 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("source_y", "double", 0, "Y coordinate of the direction the target should be aligned with.", "", &ImageRotateConfig::source_y)));
00318
00319 __min__.source_z = -10.0;
00320
00321 __max__.source_z = 10.0;
00322
00323 __default__.source_z = 0.0;
00324
00325 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("source_z", "double", 0, "Z coordinate of the direction the target should be aligned with.", "", &ImageRotateConfig::source_z)));
00326
00327 __min__.output_frame_id = "";
00328
00329 __max__.output_frame_id = "";
00330
00331 __default__.output_frame_id = "";
00332
00333 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<std::string>("output_frame_id", "str", 0, "Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame.", "", &ImageRotateConfig::output_frame_id)));
00334
00335 __min__.input_frame_id = "";
00336
00337 __max__.input_frame_id = "";
00338
00339 __default__.input_frame_id = "";
00340
00341 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<std::string>("input_frame_id", "str", 0, "Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info.", "", &ImageRotateConfig::input_frame_id)));
00342
00343 __min__.use_camera_info = 0;
00344
00345 __max__.use_camera_info = 1;
00346
00347 __default__.use_camera_info = 1;
00348
00349 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<bool>("use_camera_info", "bool", 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", "", &ImageRotateConfig::use_camera_info)));
00350
00351 __min__.max_angular_rate = 0.0;
00352
00353 __max__.max_angular_rate = 100.0;
00354
00355 __default__.max_angular_rate = 10.0;
00356
00357 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("max_angular_rate", "double", 0, "Limits the rate at which the image can rotate (rad/s). Zero means no limit.", "", &ImageRotateConfig::max_angular_rate)));
00358
00359 __min__.output_image_size = 0.0;
00360
00361 __max__.output_image_size = 3.0;
00362
00363 __default__.output_image_size = 2.0;
00364
00365 __param_descriptions__.push_back(ImageRotateConfig::AbstractParamDescriptionConstPtr(new ImageRotateConfig::ParamDescription<double>("output_image_size", "double", 0, "Size of the output image as a function of the input image size. Can be varied continuously between the following special settings: 0 ensures no black ever appears, 1 is small image dimension, 2 is large image dimension, 3 is image diagonal.", "", &ImageRotateConfig::output_image_size)));
00366
00367
00368 for (std::vector<ImageRotateConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00369 __description_message__.parameters.push_back(**i);
00370 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00371 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00372 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00373 }
00374 std::vector<ImageRotateConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00375 ImageRotateConfig __max__;
00376 ImageRotateConfig __min__;
00377 ImageRotateConfig __default__;
00378 dynamic_reconfigure::ConfigDescription __description_message__;
00379 static const ImageRotateConfigStatics *get_instance()
00380 {
00381
00382
00383
00384
00385 static ImageRotateConfigStatics instance;
00386 return &instance;
00387 }
00388 };
00389
00390 inline const dynamic_reconfigure::ConfigDescription &ImageRotateConfig::__getDescriptionMessage__()
00391 {
00392 return __get_statics__()->__description_message__;
00393 }
00394
00395 inline const ImageRotateConfig &ImageRotateConfig::__getDefault__()
00396 {
00397 return __get_statics__()->__default__;
00398 }
00399
00400 inline const ImageRotateConfig &ImageRotateConfig::__getMax__()
00401 {
00402 return __get_statics__()->__max__;
00403 }
00404
00405 inline const ImageRotateConfig &ImageRotateConfig::__getMin__()
00406 {
00407 return __get_statics__()->__min__;
00408 }
00409
00410 inline const std::vector<ImageRotateConfig::AbstractParamDescriptionConstPtr> &ImageRotateConfig::__getParamDescriptions__()
00411 {
00412 return __get_statics__()->__param_descriptions__;
00413 }
00414
00415 inline const ImageRotateConfigStatics *ImageRotateConfig::__get_statics__()
00416 {
00417 const static ImageRotateConfigStatics *statics;
00418
00419 if (statics)
00420 return statics;
00421
00422 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00423
00424 if (statics)
00425 return statics;
00426
00427 statics = ImageRotateConfigStatics::get_instance();
00428
00429 return statics;
00430 }
00431
00432
00433 }
00434
00435 #endif // __IMAGEROTATERECONFIGURATOR_H__
