BaseLocalPlannerConfig.h

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//#line 2 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
// *********************************************************
// 
// File autogenerated for the bipedRobin_local_planner package 
// by the dynamic_reconfigure package.
// Please do not edit.
// 
// ********************************************************/

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// Author: Blaise Gassend


#ifndef __bipedRobin_local_planner__BASELOCALPLANNERCONFIG_H__
#define __bipedRobin_local_planner__BASELOCALPLANNERCONFIG_H__

#include <dynamic_reconfigure/config_tools.h>
#include <limits>
#include <ros/node_handle.h>
#include <dynamic_reconfigure/ConfigDescription.h>
#include <dynamic_reconfigure/ParamDescription.h>
#include <dynamic_reconfigure/Group.h>
#include <dynamic_reconfigure/config_init_mutex.h>
#include <boost/any.hpp>

namespace bipedRobin_local_planner
{
  class BaseLocalPlannerConfigStatics;
  
  class BaseLocalPlannerConfig
  {
  public:
    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
    {
    public:
      AbstractParamDescription(std::string n, std::string t, uint32_t l, 
          std::string d, std::string e)
      {
        name = n;
        type = t;
        level = l;
        description = d;
        edit_method = e;
      }
      
      virtual void clamp(BaseLocalPlannerConfig &config, const BaseLocalPlannerConfig &max, const BaseLocalPlannerConfig &min) const = 0;
      virtual void calcLevel(uint32_t &level, const BaseLocalPlannerConfig &config1, const BaseLocalPlannerConfig &config2) const = 0;
      virtual void fromServer(const ros::NodeHandle &nh, BaseLocalPlannerConfig &config) const = 0;
      virtual void toServer(const ros::NodeHandle &nh, const BaseLocalPlannerConfig &config) const = 0;
      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, BaseLocalPlannerConfig &config) const = 0;
      virtual void toMessage(dynamic_reconfigure::Config &msg, const BaseLocalPlannerConfig &config) const = 0;
      virtual void getValue(const BaseLocalPlannerConfig &config, boost::any &val) const = 0;
    };

    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
    
    template <class T>
    class ParamDescription : public AbstractParamDescription
    {
    public:
      ParamDescription(std::string name, std::string type, uint32_t level, 
          std::string description, std::string edit_method, T BaseLocalPlannerConfig::* f) :
        AbstractParamDescription(name, type, level, description, edit_method),
        field(f)
      {}

      T (BaseLocalPlannerConfig::* field);

      virtual void clamp(BaseLocalPlannerConfig &config, const BaseLocalPlannerConfig &max, const BaseLocalPlannerConfig &min) const
      {
        if (config.*field > max.*field)
          config.*field = max.*field;
        
        if (config.*field < min.*field)
          config.*field = min.*field;
      }

      virtual void calcLevel(uint32_t &comb_level, const BaseLocalPlannerConfig &config1, const BaseLocalPlannerConfig &config2) const
      {
        if (config1.*field != config2.*field)
          comb_level |= level;
      }

      virtual void fromServer(const ros::NodeHandle &nh, BaseLocalPlannerConfig &config) const
      {
        nh.getParam(name, config.*field);
      }

      virtual void toServer(const ros::NodeHandle &nh, const BaseLocalPlannerConfig &config) const
      {
        nh.setParam(name, config.*field);
      }

      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, BaseLocalPlannerConfig &config) const
      {
        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
      }

      virtual void toMessage(dynamic_reconfigure::Config &msg, const BaseLocalPlannerConfig &config) const
      {
        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
      }

      virtual void getValue(const BaseLocalPlannerConfig &config, boost::any &val) const
      {
        val = config.*field;
      }
    };

    class AbstractGroupDescription : public dynamic_reconfigure::Group
    {
      public:
      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
      {
        name = n;
        type = t;
        parent = p;
        state = s;
        id = i;
      }

      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
      bool state;

      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
      virtual void updateParams(boost::any &cfg, BaseLocalPlannerConfig &top) const= 0;
      virtual void setInitialState(boost::any &cfg) const = 0;


      void convertParams()
      {
        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); i++)
        {
          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
        }
      }
    };

    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;

    template<class T, class PT>
    class GroupDescription : public AbstractGroupDescription
    {
    public:
      GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
      {
      }

      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
      {
        parameters = g.parameters;
        abstract_parameters = g.abstract_parameters;
      }

      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
      {
        PT* config = boost::any_cast<PT*>(cfg);
        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
          return false;
        
        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++) 
        {
          boost::any n = &((*config).*field);
          if(!(*i)->fromMessage(msg, n))
            return false;
        }

        return true;
      }

      virtual void setInitialState(boost::any &cfg) const
      {
        PT* config = boost::any_cast<PT*>(cfg);
        T* group = &((*config).*field);
        group->state = state;

        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
        {
          boost::any n = boost::any(&((*config).*field));
          (*i)->setInitialState(n);
        }

      }
      
      virtual void updateParams(boost::any &cfg, BaseLocalPlannerConfig &top) const
      {
        PT* config = boost::any_cast<PT*>(cfg);

        T* f = &((*config).*field);
        f->setParams(top, abstract_parameters);

        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++) 
        {
          boost::any n = &((*config).*field);
          (*i)->updateParams(n, top);
        }
      }

      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
      {
        const PT config = boost::any_cast<PT>(cfg);
        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);

        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
        {
          (*i)->toMessage(msg, config.*field);
        }
      }

      T (PT::* field);
      std::vector<BaseLocalPlannerConfig::AbstractGroupDescriptionConstPtr> groups;
    };
    
class DEFAULT
{
  public:
    DEFAULT()
    {
      state = true;
      name = "Default";
    }

    void setParams(BaseLocalPlannerConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
    {
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = params.begin(); i != params.end(); i++)
      {
        boost::any val;
        (*i)->getValue(config, val);

        if("acc_lim_x"==(*i)->name){acc_lim_x = boost::any_cast<double>(val);}
        if("acc_lim_y"==(*i)->name){acc_lim_y = boost::any_cast<double>(val);}
        if("acc_lim_theta"==(*i)->name){acc_lim_theta = boost::any_cast<double>(val);}
        if("max_vel_x"==(*i)->name){max_vel_x = boost::any_cast<double>(val);}
        if("min_vel_x"==(*i)->name){min_vel_x = boost::any_cast<double>(val);}
        if("max_vel_theta"==(*i)->name){max_vel_theta = boost::any_cast<double>(val);}
        if("min_vel_theta"==(*i)->name){min_vel_theta = boost::any_cast<double>(val);}
        if("min_in_place_vel_theta"==(*i)->name){min_in_place_vel_theta = boost::any_cast<double>(val);}
        if("sim_time"==(*i)->name){sim_time = boost::any_cast<double>(val);}
        if("sim_granularity"==(*i)->name){sim_granularity = boost::any_cast<double>(val);}
        if("pdist_scale"==(*i)->name){pdist_scale = boost::any_cast<double>(val);}
        if("gdist_scale"==(*i)->name){gdist_scale = boost::any_cast<double>(val);}
        if("occdist_scale"==(*i)->name){occdist_scale = boost::any_cast<double>(val);}
        if("oscillation_reset_dist"==(*i)->name){oscillation_reset_dist = boost::any_cast<double>(val);}
        if("escape_reset_dist"==(*i)->name){escape_reset_dist = boost::any_cast<double>(val);}
        if("escape_reset_theta"==(*i)->name){escape_reset_theta = boost::any_cast<double>(val);}
        if("vx_samples"==(*i)->name){vx_samples = boost::any_cast<int>(val);}
        if("vtheta_samples"==(*i)->name){vtheta_samples = boost::any_cast<int>(val);}
        if("heading_lookahead"==(*i)->name){heading_lookahead = boost::any_cast<double>(val);}
        if("holonomic_robot"==(*i)->name){holonomic_robot = boost::any_cast<bool>(val);}
        if("escape_vel"==(*i)->name){escape_vel = boost::any_cast<double>(val);}
        if("dwa"==(*i)->name){dwa = boost::any_cast<bool>(val);}
        if("heading_scoring"==(*i)->name){heading_scoring = boost::any_cast<bool>(val);}
        if("heading_scoring_timestep"==(*i)->name){heading_scoring_timestep = boost::any_cast<double>(val);}
        if("simple_attractor"==(*i)->name){simple_attractor = boost::any_cast<bool>(val);}
        if("angular_sim_granularity"==(*i)->name){angular_sim_granularity = boost::any_cast<double>(val);}
        if("y_vels"==(*i)->name){y_vels = boost::any_cast<std::string>(val);}
        if("restore_defaults"==(*i)->name){restore_defaults = boost::any_cast<bool>(val);}
      }
    }

    double acc_lim_x;
double acc_lim_y;
double acc_lim_theta;
double max_vel_x;
double min_vel_x;
double max_vel_theta;
double min_vel_theta;
double min_in_place_vel_theta;
double sim_time;
double sim_granularity;
double pdist_scale;
double gdist_scale;
double occdist_scale;
double oscillation_reset_dist;
double escape_reset_dist;
double escape_reset_theta;
int vx_samples;
int vtheta_samples;
double heading_lookahead;
bool holonomic_robot;
double escape_vel;
bool dwa;
bool heading_scoring;
double heading_scoring_timestep;
bool simple_attractor;
double angular_sim_granularity;
std::string y_vels;
bool restore_defaults;

    bool state;
    std::string name;

    
}groups;



//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double acc_lim_x;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double acc_lim_y;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double acc_lim_theta;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double max_vel_x;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double min_vel_x;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double max_vel_theta;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double min_vel_theta;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double min_in_place_vel_theta;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double sim_time;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double sim_granularity;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double pdist_scale;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double gdist_scale;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double occdist_scale;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double oscillation_reset_dist;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double escape_reset_dist;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double escape_reset_theta;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      int vx_samples;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      int vtheta_samples;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double heading_lookahead;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      bool holonomic_robot;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double escape_vel;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      bool dwa;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      bool heading_scoring;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double heading_scoring_timestep;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      bool simple_attractor;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      double angular_sim_granularity;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      std::string y_vels;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      bool restore_defaults;
//#line 255 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"

    bool __fromMessage__(dynamic_reconfigure::Config &msg)
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();

      int count = 0;
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        if ((*i)->fromMessage(msg, *this))
          count++;

      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
      {
        if ((*i)->id == 0)
        {
          boost::any n = boost::any(this);
          (*i)->updateParams(n, *this);
          (*i)->fromMessage(msg, n);
        }
      }

      if (count != dynamic_reconfigure::ConfigTools::size(msg))
      {
        ROS_ERROR("BaseLocalPlannerConfig::__fromMessage__ called with an unexpected parameter.");
        ROS_ERROR("Booleans:");
        for (unsigned int i = 0; i < msg.bools.size(); i++)
          ROS_ERROR("  %s", msg.bools[i].name.c_str());
        ROS_ERROR("Integers:");
        for (unsigned int i = 0; i < msg.ints.size(); i++)
          ROS_ERROR("  %s", msg.ints[i].name.c_str());
        ROS_ERROR("Doubles:");
        for (unsigned int i = 0; i < msg.doubles.size(); i++)
          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
        ROS_ERROR("Strings:");
        for (unsigned int i = 0; i < msg.strs.size(); i++)
          ROS_ERROR("  %s", msg.strs[i].name.c_str());
        // @todo Check that there are no duplicates. Make this error more
        // explicit.
        return false;
      }
      return true;
    }

    // This version of __toMessage__ is used during initialization of
    // statics when __getParamDescriptions__ can't be called yet.
    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
    {
      dynamic_reconfigure::ConfigTools::clear(msg);
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->toMessage(msg, *this);

      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++)
      {
        if((*i)->id == 0)
        {
          (*i)->toMessage(msg, *this);
        }
      }
    }
    
    void __toMessage__(dynamic_reconfigure::Config &msg) const
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
    }
    
    void __toServer__(const ros::NodeHandle &nh) const
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->toServer(nh, *this);
    }

    void __fromServer__(const ros::NodeHandle &nh)
    {
      static bool setup=false;

      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->fromServer(nh, *this);

      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
        if (!setup && (*i)->id == 0) {
          setup = true;
          boost::any n = boost::any(this);
          (*i)->setInitialState(n);
        }
      }
    }

    void __clamp__()
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      const BaseLocalPlannerConfig &__max__ = __getMax__();
      const BaseLocalPlannerConfig &__min__ = __getMin__();
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->clamp(*this, __max__, __min__);
    }

    uint32_t __level__(const BaseLocalPlannerConfig &config) const
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      uint32_t level = 0;
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->calcLevel(level, config, *this);
      return level;
    }
    
    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
    static const BaseLocalPlannerConfig &__getDefault__();
    static const BaseLocalPlannerConfig &__getMax__();
    static const BaseLocalPlannerConfig &__getMin__();
    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
    
  private:
    static const BaseLocalPlannerConfigStatics *__get_statics__();
  };
  
  template <> // Max and min are ignored for strings.
  inline void BaseLocalPlannerConfig::ParamDescription<std::string>::clamp(BaseLocalPlannerConfig &config, const BaseLocalPlannerConfig &max, const BaseLocalPlannerConfig &min) const
  {
    return;
  }

  class BaseLocalPlannerConfigStatics
  {
    friend class BaseLocalPlannerConfig;
    
    BaseLocalPlannerConfigStatics()
    {
BaseLocalPlannerConfig::GroupDescription<BaseLocalPlannerConfig::DEFAULT, BaseLocalPlannerConfig> Default("Default", "", 0, 0, true, &BaseLocalPlannerConfig::groups);
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.acc_lim_x = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.acc_lim_x = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.acc_lim_x = 1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_x", "double", 0, "The acceleration limit of the robot in the x direction", "", &BaseLocalPlannerConfig::acc_lim_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_x", "double", 0, "The acceleration limit of the robot in the x direction", "", &BaseLocalPlannerConfig::acc_lim_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.acc_lim_y = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.acc_lim_y = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.acc_lim_y = 1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_y", "double", 0, "The acceleration limit of the robot in the y direction", "", &BaseLocalPlannerConfig::acc_lim_y)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_y", "double", 0, "The acceleration limit of the robot in the y direction", "", &BaseLocalPlannerConfig::acc_lim_y)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.acc_lim_theta = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.acc_lim_theta = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.acc_lim_theta = 1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_theta", "double", 0, "The acceleration limit of the robot in the theta direction", "", &BaseLocalPlannerConfig::acc_lim_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("acc_lim_theta", "double", 0, "The acceleration limit of the robot in the theta direction", "", &BaseLocalPlannerConfig::acc_lim_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.max_vel_x = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.max_vel_x = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.max_vel_x = 0.55;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("max_vel_x", "double", 0, "The maximum x velocity for the robot in m/s", "", &BaseLocalPlannerConfig::max_vel_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("max_vel_x", "double", 0, "The maximum x velocity for the robot in m/s", "", &BaseLocalPlannerConfig::max_vel_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.min_vel_x = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.min_vel_x = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.min_vel_x = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_vel_x", "double", 0, "The minimum x velocity for the robot in m/s", "", &BaseLocalPlannerConfig::min_vel_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_vel_x", "double", 0, "The minimum x velocity for the robot in m/s", "", &BaseLocalPlannerConfig::min_vel_x)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.max_vel_theta = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.max_vel_theta = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.max_vel_theta = 1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("max_vel_theta", "double", 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", "", &BaseLocalPlannerConfig::max_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("max_vel_theta", "double", 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", "", &BaseLocalPlannerConfig::max_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.min_vel_theta = -20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.min_vel_theta = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.min_vel_theta = -1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_vel_theta", "double", 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", "", &BaseLocalPlannerConfig::min_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_vel_theta", "double", 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", "", &BaseLocalPlannerConfig::min_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.min_in_place_vel_theta = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.min_in_place_vel_theta = 20.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.min_in_place_vel_theta = 0.4;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_in_place_vel_theta", "double", 0, "The absolute value of the minimum in-place rotational velocity the controller will explore", "", &BaseLocalPlannerConfig::min_in_place_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("min_in_place_vel_theta", "double", 0, "The absolute value of the minimum in-place rotational velocity the controller will explore", "", &BaseLocalPlannerConfig::min_in_place_vel_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.sim_time = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.sim_time = 10.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.sim_time = 1.7;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("sim_time", "double", 0, "The amount of time to roll trajectories out for in seconds", "", &BaseLocalPlannerConfig::sim_time)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("sim_time", "double", 0, "The amount of time to roll trajectories out for in seconds", "", &BaseLocalPlannerConfig::sim_time)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.sim_granularity = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.sim_granularity = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.sim_granularity = 0.025;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("sim_granularity", "double", 0, "The granularity with which to check for collisions along each trajectory in meters", "", &BaseLocalPlannerConfig::sim_granularity)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("sim_granularity", "double", 0, "The granularity with which to check for collisions along each trajectory in meters", "", &BaseLocalPlannerConfig::sim_granularity)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.pdist_scale = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.pdist_scale = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.pdist_scale = 0.6;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("pdist_scale", "double", 0, "The weight for the path distance part of the cost function", "", &BaseLocalPlannerConfig::pdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("pdist_scale", "double", 0, "The weight for the path distance part of the cost function", "", &BaseLocalPlannerConfig::pdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.gdist_scale = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.gdist_scale = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.gdist_scale = 0.8;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("gdist_scale", "double", 0, "The weight for the goal distance part of the cost function", "", &BaseLocalPlannerConfig::gdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("gdist_scale", "double", 0, "The weight for the goal distance part of the cost function", "", &BaseLocalPlannerConfig::gdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.occdist_scale = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.occdist_scale = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.occdist_scale = 0.01;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("occdist_scale", "double", 0, "The weight for the obstacle distance part of the cost function", "", &BaseLocalPlannerConfig::occdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("occdist_scale", "double", 0, "The weight for the obstacle distance part of the cost function", "", &BaseLocalPlannerConfig::occdist_scale)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.oscillation_reset_dist = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.oscillation_reset_dist = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.oscillation_reset_dist = 0.05;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("oscillation_reset_dist", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::oscillation_reset_dist)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("oscillation_reset_dist", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::oscillation_reset_dist)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.escape_reset_dist = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.escape_reset_dist = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.escape_reset_dist = 0.1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_reset_dist", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::escape_reset_dist)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_reset_dist", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::escape_reset_dist)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.escape_reset_theta = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.escape_reset_theta = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.escape_reset_theta = 1.57079632679;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_reset_theta", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::escape_reset_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_reset_theta", "double", 0, "The distance the robot must travel before oscillation flags are reset, in meters", "", &BaseLocalPlannerConfig::escape_reset_theta)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.vx_samples = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.vx_samples = 300;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.vx_samples = 20;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<int>("vx_samples", "int", 0, "The number of samples to use when exploring the x velocity space", "", &BaseLocalPlannerConfig::vx_samples)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<int>("vx_samples", "int", 0, "The number of samples to use when exploring the x velocity space", "", &BaseLocalPlannerConfig::vx_samples)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.vtheta_samples = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.vtheta_samples = 300;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.vtheta_samples = 20;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<int>("vtheta_samples", "int", 0, "The number of samples to use when exploring the theta velocity space", "", &BaseLocalPlannerConfig::vtheta_samples)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<int>("vtheta_samples", "int", 0, "The number of samples to use when exploring the theta velocity space", "", &BaseLocalPlannerConfig::vtheta_samples)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.heading_lookahead = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.heading_lookahead = 5.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.heading_lookahead = 0.325;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("heading_lookahead", "double", 0, "How far the robot should look ahead of itself when differentiating between different rotational velocities", "", &BaseLocalPlannerConfig::heading_lookahead)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("heading_lookahead", "double", 0, "How far the robot should look ahead of itself when differentiating between different rotational velocities", "", &BaseLocalPlannerConfig::heading_lookahead)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.holonomic_robot = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.holonomic_robot = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.holonomic_robot = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("holonomic_robot", "bool", 0, "Set this to true if the robot being controlled can take y velocities and false otherwise", "", &BaseLocalPlannerConfig::holonomic_robot)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("holonomic_robot", "bool", 0, "Set this to true if the robot being controlled can take y velocities and false otherwise", "", &BaseLocalPlannerConfig::holonomic_robot)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.escape_vel = -2.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.escape_vel = 2.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.escape_vel = -0.1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_vel", "double", 0, "The velocity to use while backing up", "", &BaseLocalPlannerConfig::escape_vel)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("escape_vel", "double", 0, "The velocity to use while backing up", "", &BaseLocalPlannerConfig::escape_vel)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.dwa = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.dwa = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.dwa = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("dwa", "bool", 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", "", &BaseLocalPlannerConfig::dwa)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("dwa", "bool", 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", "", &BaseLocalPlannerConfig::dwa)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.heading_scoring = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.heading_scoring = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.heading_scoring = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("heading_scoring", "bool", 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", "", &BaseLocalPlannerConfig::heading_scoring)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("heading_scoring", "bool", 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", "", &BaseLocalPlannerConfig::heading_scoring)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.heading_scoring_timestep = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.heading_scoring_timestep = 1.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.heading_scoring_timestep = 0.1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("heading_scoring_timestep", "double", 0, "How far to look ahead in time when we score heading based trajectories", "", &BaseLocalPlannerConfig::heading_scoring_timestep)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("heading_scoring_timestep", "double", 0, "How far to look ahead in time when we score heading based trajectories", "", &BaseLocalPlannerConfig::heading_scoring_timestep)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.simple_attractor = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.simple_attractor = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.simple_attractor = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("simple_attractor", "bool", 0, "Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation", "", &BaseLocalPlannerConfig::simple_attractor)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("simple_attractor", "bool", 0, "Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation", "", &BaseLocalPlannerConfig::simple_attractor)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.angular_sim_granularity = 0.0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.angular_sim_granularity = 1.57079632679;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.angular_sim_granularity = 0.025;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("angular_sim_granularity", "double", 0, "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", "", &BaseLocalPlannerConfig::angular_sim_granularity)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<double>("angular_sim_granularity", "double", 0, "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", "", &BaseLocalPlannerConfig::angular_sim_granularity)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.y_vels = "";
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.y_vels = "";
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.y_vels = "-0.3,-0.1,0.1,-0.3";
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<std::string>("y_vels", "str", 0, "A comma delimited list of the y velocities the controller will explore", "", &BaseLocalPlannerConfig::y_vels)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<std::string>("y_vels", "str", 0, "A comma delimited list of the y velocities the controller will explore", "", &BaseLocalPlannerConfig::y_vels)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __min__.restore_defaults = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __max__.restore_defaults = 1;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __default__.restore_defaults = 0;
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.abstract_parameters.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("restore_defaults", "bool", 0, "Retore to the default configuration", "", &BaseLocalPlannerConfig::restore_defaults)));
//#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __param_descriptions__.push_back(BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr(new BaseLocalPlannerConfig::ParamDescription<bool>("restore_defaults", "bool", 0, "Retore to the default configuration", "", &BaseLocalPlannerConfig::restore_defaults)));
//#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      Default.convertParams();
//#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
      __group_descriptions__.push_back(BaseLocalPlannerConfig::AbstractGroupDescriptionConstPtr(new BaseLocalPlannerConfig::GroupDescription<BaseLocalPlannerConfig::DEFAULT, BaseLocalPlannerConfig>(Default)));
//#line 390 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
    
      for (std::vector<BaseLocalPlannerConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++)
      {
        __description_message__.groups.push_back(**i);
      }
      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); 
      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); 
      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); 
    }
    std::vector<BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
    std::vector<BaseLocalPlannerConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
    BaseLocalPlannerConfig __max__;
    BaseLocalPlannerConfig __min__;
    BaseLocalPlannerConfig __default__;
    dynamic_reconfigure::ConfigDescription __description_message__;

    static const BaseLocalPlannerConfigStatics *get_instance()
    {
      // Split this off in a separate function because I know that
      // instance will get initialized the first time get_instance is
      // called, and I am guaranteeing that get_instance gets called at
      // most once.
      static BaseLocalPlannerConfigStatics instance;
      return &instance;
    }
  };

  inline const dynamic_reconfigure::ConfigDescription &BaseLocalPlannerConfig::__getDescriptionMessage__() 
  {
    return __get_statics__()->__description_message__;
  }

  inline const BaseLocalPlannerConfig &BaseLocalPlannerConfig::__getDefault__()
  {
    return __get_statics__()->__default__;
  }
  
  inline const BaseLocalPlannerConfig &BaseLocalPlannerConfig::__getMax__()
  {
    return __get_statics__()->__max__;
  }
  
  inline const BaseLocalPlannerConfig &BaseLocalPlannerConfig::__getMin__()
  {
    return __get_statics__()->__min__;
  }
  
  inline const std::vector<BaseLocalPlannerConfig::AbstractParamDescriptionConstPtr> &BaseLocalPlannerConfig::__getParamDescriptions__()
  {
    return __get_statics__()->__param_descriptions__;
  }

  inline const std::vector<BaseLocalPlannerConfig::AbstractGroupDescriptionConstPtr> &BaseLocalPlannerConfig::__getGroupDescriptions__()
  {
    return __get_statics__()->__group_descriptions__;
  }

  inline const BaseLocalPlannerConfigStatics *BaseLocalPlannerConfig::__get_statics__()
  {
    const static BaseLocalPlannerConfigStatics *statics;
  
    if (statics) // Common case
      return statics;

    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);

    if (statics) // In case we lost a race.
      return statics;

    statics = BaseLocalPlannerConfigStatics::get_instance();
    
    return statics;
  }


}

#endif // __BASELOCALPLANNERRECONFIGURATOR_H__