DoorCloudConfig.h
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00001 //#line 2 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
00002 // *********************************************************
00003 // 
00004 // File autogenerated for the iri_door_detector package 
00005 // by the dynamic_reconfigure package.
00006 // Please do not edit.
00007 // 
00008 // ********************************************************/
00009 
00010 /***********************************************************
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00043 
00044 // Author: Blaise Gassend
00045 
00046 
00047 #ifndef __iri_door_detector__DOORCLOUDCONFIG_H__
00048 #define __iri_door_detector__DOORCLOUDCONFIG_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 iri_door_detector
00058 {
00059   class DoorCloudConfigStatics;
00060   
00061   class DoorCloudConfig
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(DoorCloudConfig &config, const DoorCloudConfig &max, const DoorCloudConfig &min) const = 0;
00078       virtual void calcLevel(uint32_t &level, const DoorCloudConfig &config1, const DoorCloudConfig &config2) const = 0;
00079       virtual void fromServer(const ros::NodeHandle &nh, DoorCloudConfig &config) const = 0;
00080       virtual void toServer(const ros::NodeHandle &nh, const DoorCloudConfig &config) const = 0;
00081       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DoorCloudConfig &config) const = 0;
00082       virtual void toMessage(dynamic_reconfigure::Config &msg, const DoorCloudConfig &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 DoorCloudConfig::* f) :
00094         AbstractParamDescription(name, type, level, description, edit_method),
00095         field(f)
00096       {}
00097 
00098       T (DoorCloudConfig::* field);
00099 
00100       virtual void clamp(DoorCloudConfig &config, const DoorCloudConfig &max, const DoorCloudConfig &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 DoorCloudConfig &config1, const DoorCloudConfig &config2) const
00110       {
00111         if (config1.*field != config2.*field)
00112           comb_level |= level;
00113       }
00114 
00115       virtual void fromServer(const ros::NodeHandle &nh, DoorCloudConfig &config) const
00116       {
00117         nh.getParam(name, config.*field);
00118       }
00119 
00120       virtual void toServer(const ros::NodeHandle &nh, const DoorCloudConfig &config) const
00121       {
00122         nh.setParam(name, config.*field);
00123       }
00124 
00125       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DoorCloudConfig &config) const
00126       {
00127         return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128       }
00129 
00130       virtual void toMessage(dynamic_reconfigure::Config &msg, const DoorCloudConfig &config) const
00131       {
00132         dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133       }
00134     };
00135 
00136 //#line 42 "../cfg/door_cloud_alg_config.cfg"
00137       bool no_simulator;
00138 //#line 138 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
00139 
00140     bool __fromMessage__(dynamic_reconfigure::Config &msg)
00141     {
00142       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00143       int count = 0;
00144       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00145         if ((*i)->fromMessage(msg, *this))
00146           count++;
00147       if (count != dynamic_reconfigure::ConfigTools::size(msg))
00148       {
00149         ROS_ERROR("DoorCloudConfig::__fromMessage__ called with an unexpected parameter.");
00150         ROS_ERROR("Booleans:");
00151         for (unsigned int i = 0; i < msg.bools.size(); i++)
00152           ROS_ERROR("  %s", msg.bools[i].name.c_str());
00153         ROS_ERROR("Integers:");
00154         for (unsigned int i = 0; i < msg.ints.size(); i++)
00155           ROS_ERROR("  %s", msg.ints[i].name.c_str());
00156         ROS_ERROR("Doubles:");
00157         for (unsigned int i = 0; i < msg.doubles.size(); i++)
00158           ROS_ERROR("  %s", msg.doubles[i].name.c_str());
00159         ROS_ERROR("Strings:");
00160         for (unsigned int i = 0; i < msg.strs.size(); i++)
00161           ROS_ERROR("  %s", msg.strs[i].name.c_str());
00162         // @todo Check that there are no duplicates. Make this error more
00163         // explicit.
00164         return false;
00165       }
00166       return true;
00167     }
00168 
00169     // This version of __toMessage__ is used during initialization of
00170     // statics when __getParamDescriptions__ can't be called yet.
00171     void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00172     {
00173       dynamic_reconfigure::ConfigTools::clear(msg);
00174       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00175         (*i)->toMessage(msg, *this);
00176     }
00177     
00178     void __toMessage__(dynamic_reconfigure::Config &msg) const
00179     {
00180       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00181       __toMessage__(msg, __param_descriptions__);
00182     }
00183     
00184     void __toServer__(const ros::NodeHandle &nh) const
00185     {
00186       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00187       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00188         (*i)->toServer(nh, *this);
00189     }
00190 
00191     void __fromServer__(const ros::NodeHandle &nh)
00192     {
00193       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00194       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00195         (*i)->fromServer(nh, *this);
00196     }
00197 
00198     void __clamp__()
00199     {
00200       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00201       const DoorCloudConfig &__max__ = __getMax__();
00202       const DoorCloudConfig &__min__ = __getMin__();
00203       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00204         (*i)->clamp(*this, __max__, __min__);
00205     }
00206 
00207     uint32_t __level__(const DoorCloudConfig &config) const
00208     {
00209       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00210       uint32_t level = 0;
00211       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00212         (*i)->calcLevel(level, config, *this);
00213       return level;
00214     }
00215     
00216     static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00217     static const DoorCloudConfig &__getDefault__();
00218     static const DoorCloudConfig &__getMax__();
00219     static const DoorCloudConfig &__getMin__();
00220     static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00221     
00222   private:
00223     static const DoorCloudConfigStatics *__get_statics__();
00224   };
00225   
00226   template <> // Max and min are ignored for strings.
00227   inline void DoorCloudConfig::ParamDescription<std::string>::clamp(DoorCloudConfig &config, const DoorCloudConfig &max, const DoorCloudConfig &min) const
00228   {
00229     return;
00230   }
00231 
00232   class DoorCloudConfigStatics
00233   {
00234     friend class DoorCloudConfig;
00235     
00236     DoorCloudConfigStatics()
00237     {
00238 //#line 42 "../cfg/door_cloud_alg_config.cfg"
00239       __min__.no_simulator = 0;
00240 //#line 42 "../cfg/door_cloud_alg_config.cfg"
00241       __max__.no_simulator = 1;
00242 //#line 42 "../cfg/door_cloud_alg_config.cfg"
00243       __default__.no_simulator = 1;
00244 //#line 42 "../cfg/door_cloud_alg_config.cfg"
00245       __param_descriptions__.push_back(DoorCloudConfig::AbstractParamDescriptionConstPtr(new DoorCloudConfig::ParamDescription<bool>("no_simulator", "bool", 0, "Run without simulation", "", &DoorCloudConfig::no_simulator)));
00246 //#line 239 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
00247     
00248       for (std::vector<DoorCloudConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00249         __description_message__.parameters.push_back(**i);
00250       __max__.__toMessage__(__description_message__.max, __param_descriptions__); 
00251       __min__.__toMessage__(__description_message__.min, __param_descriptions__); 
00252       __default__.__toMessage__(__description_message__.dflt, __param_descriptions__); 
00253     }
00254     std::vector<DoorCloudConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00255     DoorCloudConfig __max__;
00256     DoorCloudConfig __min__;
00257     DoorCloudConfig __default__;
00258     dynamic_reconfigure::ConfigDescription __description_message__;
00259     static const DoorCloudConfigStatics *get_instance()
00260     {
00261       // Split this off in a separate function because I know that
00262       // instance will get initialized the first time get_instance is
00263       // called, and I am guaranteeing that get_instance gets called at
00264       // most once.
00265       static DoorCloudConfigStatics instance;
00266       return &instance;
00267     }
00268   };
00269 
00270   inline const dynamic_reconfigure::ConfigDescription &DoorCloudConfig::__getDescriptionMessage__() 
00271   {
00272     return __get_statics__()->__description_message__;
00273   }
00274 
00275   inline const DoorCloudConfig &DoorCloudConfig::__getDefault__()
00276   {
00277     return __get_statics__()->__default__;
00278   }
00279   
00280   inline const DoorCloudConfig &DoorCloudConfig::__getMax__()
00281   {
00282     return __get_statics__()->__max__;
00283   }
00284   
00285   inline const DoorCloudConfig &DoorCloudConfig::__getMin__()
00286   {
00287     return __get_statics__()->__min__;
00288   }
00289   
00290   inline const std::vector<DoorCloudConfig::AbstractParamDescriptionConstPtr> &DoorCloudConfig::__getParamDescriptions__()
00291   {
00292     return __get_statics__()->__param_descriptions__;
00293   }
00294 
00295   inline const DoorCloudConfigStatics *DoorCloudConfig::__get_statics__()
00296   {
00297     const static DoorCloudConfigStatics *statics;
00298   
00299     if (statics) // Common case
00300       return statics;
00301 
00302     boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00303 
00304     if (statics) // In case we lost a race.
00305       return statics;
00306 
00307     statics = DoorCloudConfigStatics::get_instance();
00308     
00309     return statics;
00310   }
00311 
00312 
00313 }
00314 
00315 #endif // __DOORCLOUDRECONFIGURATOR_H__


iri_door_detector
Author(s): Jose Rodriguez
autogenerated on Fri Dec 6 2013 23:57:16