DoorDetectorActionsConfig.h

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

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// Author: Blaise Gassend


#ifndef __iri_door_detector__DOORDETECTORACTIONSCONFIG_H__
#define __iri_door_detector__DOORDETECTORACTIONSCONFIG_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/config_init_mutex.h>

namespace iri_door_detector
{
  class DoorDetectorActionsConfigStatics;
  
  class DoorDetectorActionsConfig
  {
  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(DoorDetectorActionsConfig &config, const DoorDetectorActionsConfig &max, const DoorDetectorActionsConfig &min) const = 0;
      virtual void calcLevel(uint32_t &level, const DoorDetectorActionsConfig &config1, const DoorDetectorActionsConfig &config2) const = 0;
      virtual void fromServer(const ros::NodeHandle &nh, DoorDetectorActionsConfig &config) const = 0;
      virtual void toServer(const ros::NodeHandle &nh, const DoorDetectorActionsConfig &config) const = 0;
      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DoorDetectorActionsConfig &config) const = 0;
      virtual void toMessage(dynamic_reconfigure::Config &msg, const DoorDetectorActionsConfig &config) 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 DoorDetectorActionsConfig::* f) :
        AbstractParamDescription(name, type, level, description, edit_method),
        field(f)
      {}

      T (DoorDetectorActionsConfig::* field);

      virtual void clamp(DoorDetectorActionsConfig &config, const DoorDetectorActionsConfig &max, const DoorDetectorActionsConfig &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 DoorDetectorActionsConfig &config1, const DoorDetectorActionsConfig &config2) const
      {
        if (config1.*field != config2.*field)
          comb_level |= level;
      }

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

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

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

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

//#line 42 "../cfg/door_detector_actions_alg_config.cfg"
      double base_distance_before_closed_door;
//#line 43 "../cfg/door_detector_actions_alg_config.cfg"
      double base_distance_after_open_door;
//#line 44 "../cfg/door_detector_actions_alg_config.cfg"
      double arm_distance_before_closed_door;
//#line 45 "../cfg/door_detector_actions_alg_config.cfg"
      double z_arm_offset;
//#line 46 "../cfg/door_detector_actions_alg_config.cfg"
      double y_offset;
//#line 47 "../cfg/door_detector_actions_alg_config.cfg"
      bool no_simulator;
//#line 138 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"

    bool __fromMessage__(dynamic_reconfigure::Config &msg)
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      int count = 0;
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        if ((*i)->fromMessage(msg, *this))
          count++;
      if (count != dynamic_reconfigure::ConfigTools::size(msg))
      {
        ROS_ERROR("DoorDetectorActionsConfig::__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
    {
      dynamic_reconfigure::ConfigTools::clear(msg);
      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        (*i)->toMessage(msg, *this);
    }
    
    void __toMessage__(dynamic_reconfigure::Config &msg) const
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      __toMessage__(msg, __param_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)
    {
      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);
    }

    void __clamp__()
    {
      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
      const DoorDetectorActionsConfig &__max__ = __getMax__();
      const DoorDetectorActionsConfig &__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 DoorDetectorActionsConfig &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 DoorDetectorActionsConfig &__getDefault__();
    static const DoorDetectorActionsConfig &__getMax__();
    static const DoorDetectorActionsConfig &__getMin__();
    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
    
  private:
    static const DoorDetectorActionsConfigStatics *__get_statics__();
  };
  
  template <> // Max and min are ignored for strings.
  inline void DoorDetectorActionsConfig::ParamDescription<std::string>::clamp(DoorDetectorActionsConfig &config, const DoorDetectorActionsConfig &max, const DoorDetectorActionsConfig &min) const
  {
    return;
  }

  class DoorDetectorActionsConfigStatics
  {
    friend class DoorDetectorActionsConfig;
    
    DoorDetectorActionsConfigStatics()
    {
//#line 42 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.base_distance_before_closed_door = 0.1;
//#line 42 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.base_distance_before_closed_door = 3.0;
//#line 42 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.base_distance_before_closed_door = 0.36;
//#line 42 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<double>("base_distance_before_closed_door", "double", 0, "Required distance to avoid collision with a closed door", "", &DoorDetectorActionsConfig::base_distance_before_closed_door)));
//#line 43 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.base_distance_after_open_door = 0.1;
//#line 43 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.base_distance_after_open_door = 3.0;
//#line 43 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.base_distance_after_open_door = 1.0;
//#line 43 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<double>("base_distance_after_open_door", "double", 0, "Required distance to avoid collision with an open door", "", &DoorDetectorActionsConfig::base_distance_after_open_door)));
//#line 44 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.arm_distance_before_closed_door = 0.01;
//#line 44 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.arm_distance_before_closed_door = 1.0;
//#line 44 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.arm_distance_before_closed_door = 0.25;
//#line 44 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<double>("arm_distance_before_closed_door", "double", 0, "Required distance to avoid collision with a closed door", "", &DoorDetectorActionsConfig::arm_distance_before_closed_door)));
//#line 45 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.z_arm_offset = -1.0;
//#line 45 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.z_arm_offset = 1.0;
//#line 45 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.z_arm_offset = 0.04;
//#line 45 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<double>("z_arm_offset", "double", 0, "Z-axis Arm offset to adjust target pose", "", &DoorDetectorActionsConfig::z_arm_offset)));
//#line 46 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.y_offset = -1.0;
//#line 46 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.y_offset = 1.0;
//#line 46 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.y_offset = 0.0;
//#line 46 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<double>("y_offset", "double", 0, "Y-axis offset to adjust target pose", "", &DoorDetectorActionsConfig::y_offset)));
//#line 47 "../cfg/door_detector_actions_alg_config.cfg"
      __min__.no_simulator = 0;
//#line 47 "../cfg/door_detector_actions_alg_config.cfg"
      __max__.no_simulator = 1;
//#line 47 "../cfg/door_detector_actions_alg_config.cfg"
      __default__.no_simulator = 1;
//#line 47 "../cfg/door_detector_actions_alg_config.cfg"
      __param_descriptions__.push_back(DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr(new DoorDetectorActionsConfig::ParamDescription<bool>("no_simulator", "bool", 0, "Run without simulation", "", &DoorDetectorActionsConfig::no_simulator)));
//#line 239 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
    
      for (std::vector<DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
        __description_message__.parameters.push_back(**i);
      __max__.__toMessage__(__description_message__.max, __param_descriptions__); 
      __min__.__toMessage__(__description_message__.min, __param_descriptions__); 
      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__); 
    }
    std::vector<DoorDetectorActionsConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
    DoorDetectorActionsConfig __max__;
    DoorDetectorActionsConfig __min__;
    DoorDetectorActionsConfig __default__;
    dynamic_reconfigure::ConfigDescription __description_message__;
    static const DoorDetectorActionsConfigStatics *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 DoorDetectorActionsConfigStatics instance;
      return &instance;
    }
  };

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

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

  inline const DoorDetectorActionsConfigStatics *DoorDetectorActionsConfig::__get_statics__()
  {
    const static DoorDetectorActionsConfigStatics *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 = DoorDetectorActionsConfigStatics::get_instance();
    
    return statics;
  }


}

#endif // __DOORDETECTORACTIONSRECONFIGURATOR_H__