parameters.h
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00001 //=================================================================================================
00002 // Copyright (c) 2013, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef OBJECT_TRACKER_PARAMETERS_H
00030 #define OBJECT_TRACKER_PARAMETERS_H
00031 
00032 #include <string>
00033 #include <map>
00034 #include <std_msgs/ColorRGBA.h>
00035 #include <ros/service_client.h>
00036 
00037 #include <XmlRpcValue.h>
00038 
00039 namespace hector_object_tracker {
00040 
00041   extern std::map<std::string, bool>   _project_objects;
00042   extern std::map<std::string, bool>   _with_orientation;
00043   extern std::map<std::string, double> _default_distance;
00044   extern std::map<std::string, double> _distance_variance;
00045   extern std::map<std::string, double> _angle_variance;
00046   extern std::map<std::string, double> _min_height;
00047   extern std::map<std::string, double> _max_height;
00048   extern std::map<std::string, double> _pending_support;
00049   extern std::map<std::string, double> _pending_time;
00050   extern std::map<std::string, double> _active_support;
00051   extern std::map<std::string, double> _active_time;
00052   extern std::map<std::string, double> _inactive_support;
00053   extern std::map<std::string, double> _inactive_time;
00054   extern std::map<std::string, double> _min_distance_between_objects;
00055   extern std::map<std::string, std_msgs::ColorRGBA> _marker_color;
00056   extern std::map<std::string, ros::ServiceClientPtr> _distance_to_obstacle_service;
00057   extern std::map<std::string, ros::ServiceClientPtr> _get_normal_service;
00058 
00059   typedef std::pair<ros::ServiceClientPtr, XmlRpc::XmlRpcValue> ServiceClientWithProperties;
00060   typedef std::vector<ServiceClientWithProperties> ServiceClientsWithProperties;
00061   extern std::map<std::string, ServiceClientsWithProperties> _percept_verification_services;
00062   extern std::map<std::string, ServiceClientsWithProperties> _object_verification_services;
00063 
00064   namespace Parameters {
00065     void load(const std::string& class_id = std::string());
00066   }
00067 
00068   template <typename T> static inline T& parameter(std::map<std::string, T>& p, const std::string& class_id = std::string()) {
00069     if (p.count(class_id)) return p.at(class_id);
00070     return p[std::string()];
00071   }
00072 
00073 } // namespace hector_object_tracker
00074 
00075 #endif // OBJECT_TRACKER_PARAMETERS_H


hector_object_tracker
Author(s): Johannes Meyer
autogenerated on Thu Jun 6 2019 20:20:14