Program Listing for File twist_2d_params.hpp
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#ifndef FUSE_MODELS__PARAMETERS__TWIST_2D_PARAMS_HPP_
#define FUSE_MODELS__PARAMETERS__TWIST_2D_PARAMS_HPP_
#include <string>
#include <vector>
#include <fuse_models/parameters/parameter_base.hpp>
#include <fuse_core/loss.hpp>
#include <fuse_core/parameter.hpp>
#include <fuse_variables/velocity_angular_2d_stamped.hpp>
#include <fuse_variables/velocity_linear_2d_stamped.hpp>
namespace fuse_models
{
namespace parameters
{
struct Twist2DParams : 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)
{
linear_indices = loadSensorConfig<fuse_variables::VelocityLinear2DStamped>(
interfaces, fuse_core::joinParameterName(
ns,
"linear_dimensions"));
angular_indices = loadSensorConfig<fuse_variables::VelocityAngular2DStamped>(
interfaces, fuse_core::joinParameterName(
ns,
"angular_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);
linear_loss =
fuse_core::loadLossConfig(interfaces, fuse_core::joinParameterName(ns, "linear_loss"));
angular_loss =
fuse_core::loadLossConfig(interfaces, fuse_core::joinParameterName(ns, "angular_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> linear_indices;
std::vector<size_t> angular_indices;
fuse_core::Loss::SharedPtr linear_loss;
fuse_core::Loss::SharedPtr angular_loss;
};
} // namespace parameters
} // namespace fuse_models
#endif // FUSE_MODELS__PARAMETERS__TWIST_2D_PARAMS_HPP_