Program Listing for File acceleration_2d_params.hpp

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#ifndef FUSE_MODELS__PARAMETERS__ACCELERATION_2D_PARAMS_HPP_
#define FUSE_MODELS__PARAMETERS__ACCELERATION_2D_PARAMS_HPP_

#include <string>
#include <vector>

#include <fuse_core/loss.hpp>
#include <fuse_core/parameter.hpp>
#include <fuse_variables/acceleration_linear_2d_stamped.hpp>
#include <fuse_models/parameters/parameter_base.hpp>


namespace fuse_models
{

namespace parameters
{

struct Acceleration2DParams : public ParameterBase
{
public:
  void loadFromROS(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    const std::string & ns)
  {
    indices = loadSensorConfig<fuse_variables::AccelerationLinear2DStamped>(
      interfaces, fuse_core::joinParameterName(
        ns,
        "dimensions"));

    disable_checks =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "disable_checks"),
      disable_checks);
    queue_size = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "queue_size"),
      queue_size);
    fuse_core::getPositiveParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "tf_timeout"), tf_timeout,
      false);

    fuse_core::getPositiveParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "throttle_period"), throttle_period,
      false);
    throttle_use_wall_time =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "throttle_use_wall_time"),
      throttle_use_wall_time);

    fuse_core::getParamRequired(interfaces, fuse_core::joinParameterName(ns, "topic"), topic);
    fuse_core::getParamRequired(
      interfaces, fuse_core::joinParameterName(
        ns,
        "target_frame"),
      target_frame);

    loss = fuse_core::loadLossConfig(interfaces, fuse_core::joinParameterName(ns, "loss"));
  }

  bool disable_checks {false};
  int queue_size {10};
  rclcpp::Duration tf_timeout {0, 0};
  rclcpp::Duration throttle_period {0, 0};
  bool throttle_use_wall_time {false};
  std::string topic {};
  std::string target_frame {};
  std::vector<size_t> indices;
  fuse_core::Loss::SharedPtr loss;
};

}  // namespace parameters

}  // namespace fuse_models

#endif  // FUSE_MODELS__PARAMETERS__ACCELERATION_2D_PARAMS_HPP_