optimization_params.h

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/*
 * Copyright (C) 2018-2022 Michael Ferguson
 * Copyright (C) 2014 Fetch Robotics Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
// Author: Michael Ferguson
 
#ifndef ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H
#define ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H
 
#include <ros/ros.h>
 
namespace robot_calibration
{
 
struct OptimizationParams
{
  struct FreeFrameParams
  {
    std::string name;
    bool x;
    bool y;
    bool z;
    bool roll;
    bool pitch;
    bool yaw;
  };
 
  struct FreeFrameInitialValue
  {
    std::string name;
    double x;
    double y;
    double z;
    double roll;
    double pitch;
    double yaw;
  };
 
  struct Params
  {
    std::string name;
    std::string type;
    XmlRpc::XmlRpcValue params;
  };
 
  std::string base_link;
  std::vector<std::string> free_params;
  std::vector<FreeFrameParams> free_frames;
  std::vector<FreeFrameInitialValue> free_frames_initial_values;
  std::vector<Params> models;
  std::vector<Params> error_blocks;
 
  // Parameters for the optimizer itself
  int max_num_iterations;
 
  OptimizationParams();
  bool LoadFromROS(ros::NodeHandle& nh);
 
  template<typename T>
  T getParam(Params& params, const std::string& name, T default_value)
  {
    if (!params.params.hasMember(name))
    {
      ROS_WARN_STREAM(name << " was not set, using default of " << default_value);
      return default_value;
    }
 
    return static_cast<T>(params.params[name]);
  }
};
 
}  // namespace robot_calibration
 
#endif  // ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H