pick_place_params.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/pick_place/pick_place_params.h>
00038 #include <dynamic_reconfigure/server.h>
00039 #include <moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h>
00040 
00041 namespace pick_place
00042 {
00043 namespace
00044 {
00045 using namespace moveit_ros_manipulation;
00046 
00047 class DynamicReconfigureImpl
00048 {
00049 public:
00050   DynamicReconfigureImpl() : dynamic_reconfigure_server_(ros::NodeHandle("~/pick_place"))
00051   {
00052     dynamic_reconfigure_server_.setCallback(
00053         boost::bind(&DynamicReconfigureImpl::dynamicReconfigureCallback, this, _1, _2));
00054   }
00055 
00056   const PickPlaceParams& getParams() const
00057   {
00058     return params_;
00059   }
00060 
00061 private:
00062   PickPlaceParams params_;
00063 
00064   void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig& config, uint32_t level)
00065   {
00066     params_.max_goal_count_ = config.max_attempted_states_per_pose;
00067     params_.max_fail_ = config.max_consecutive_fail_attempts;
00068     params_.max_step_ = config.cartesian_motion_step_size;
00069     params_.jump_factor_ = config.jump_factor;
00070   }
00071 
00072   dynamic_reconfigure::Server<PickPlaceDynamicReconfigureConfig> dynamic_reconfigure_server_;
00073 };
00074 }
00075 }
00076 
00077 pick_place::PickPlaceParams::PickPlaceParams() : max_goal_count_(5), max_fail_(3), max_step_(0.02), jump_factor_(2.0)
00078 {
00079 }
00080 
00081 const pick_place::PickPlaceParams& pick_place::GetGlobalPickPlaceParams()
00082 {
00083   static DynamicReconfigureImpl PICK_PLACE_PARAMS;
00084   return PICK_PLACE_PARAMS.getParams();
00085 }


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:40