Template Function fuse_core::declareCeresParam

Function Documentation

template<class T>
T fuse_core::declareCeresParam(node_interfaces::NodeInterfaces<node_interfaces::Base, node_interfaces::Logging, node_interfaces::Parameters> interfaces, const std::string &parameter_name, const T &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor())

Helper function that loads and validates a Ceres Option (e.g. ceres::LinearSolverType) value from the parameter server.

String definitions for all Ceres options.

Parameters:

  • interfaces – [in] - The node interfaces used to load the parameter

  • parameter_name – [in] - The parameter name to load

  • default_value – [in] - A default value to use if the provided parameter name does not exist

Returns:

The loaded (or default) value