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00047 #ifndef __iri_door_detector__CLOSEDDOORDETECTORCONFIG_H__
00048 #define __iri_door_detector__CLOSEDDOORDETECTORCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace iri_door_detector
00058 {
00059 class ClosedDoorDetectorConfigStatics;
00060
00061 class ClosedDoorDetectorConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(ClosedDoorDetectorConfig &config, const ClosedDoorDetectorConfig &max, const ClosedDoorDetectorConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const ClosedDoorDetectorConfig &config1, const ClosedDoorDetectorConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, ClosedDoorDetectorConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const ClosedDoorDetectorConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ClosedDoorDetectorConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const ClosedDoorDetectorConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T ClosedDoorDetectorConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (ClosedDoorDetectorConfig::* field);
00099
00100 virtual void clamp(ClosedDoorDetectorConfig &config, const ClosedDoorDetectorConfig &max, const ClosedDoorDetectorConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const ClosedDoorDetectorConfig &config1, const ClosedDoorDetectorConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, ClosedDoorDetectorConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const ClosedDoorDetectorConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ClosedDoorDetectorConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const ClosedDoorDetectorConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int min_door_width;
00138
00139 int max_door_width;
00140
00141 int min_door_height;
00142
00143 int max_door_height;
00144
00145 int handle_width;
00146
00147 int handle_height;
00148
00149 int handle_location;
00150
00151 int allowed_blobs;
00152
00153 int segment_fidelity;
00154
00155 int segment_size;
00156
00157 int debugging_images;
00158
00159 bool no_simulator;
00160
00161 bool DSC;
00162
00163 bool SHM;
00164
00165 bool SVP;
00166
00167 bool SFT;
00168
00169 bool Range_filter;
00170
00171 bool Persp_filter;
00172
00173 bool Geom_filter;
00174
00175 bool Size_filter;
00176
00177 bool Aspect_filter;
00178
00179
00180 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00181 {
00182 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00183 int count = 0;
00184 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00185 if ((*i)->fromMessage(msg, *this))
00186 count++;
00187 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00188 {
00189 ROS_ERROR("ClosedDoorDetectorConfig::__fromMessage__ called with an unexpected parameter.");
00190 ROS_ERROR("Booleans:");
00191 for (unsigned int i = 0; i < msg.bools.size(); i++)
00192 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00193 ROS_ERROR("Integers:");
00194 for (unsigned int i = 0; i < msg.ints.size(); i++)
00195 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00196 ROS_ERROR("Doubles:");
00197 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00198 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00199 ROS_ERROR("Strings:");
00200 for (unsigned int i = 0; i < msg.strs.size(); i++)
00201 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00202
00203
00204 return false;
00205 }
00206 return true;
00207 }
00208
00209
00210
00211 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00212 {
00213 dynamic_reconfigure::ConfigTools::clear(msg);
00214 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00215 (*i)->toMessage(msg, *this);
00216 }
00217
00218 void __toMessage__(dynamic_reconfigure::Config &msg) const
00219 {
00220 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00221 __toMessage__(msg, __param_descriptions__);
00222 }
00223
00224 void __toServer__(const ros::NodeHandle &nh) const
00225 {
00226 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00227 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00228 (*i)->toServer(nh, *this);
00229 }
00230
00231 void __fromServer__(const ros::NodeHandle &nh)
00232 {
00233 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00234 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00235 (*i)->fromServer(nh, *this);
00236 }
00237
00238 void __clamp__()
00239 {
00240 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00241 const ClosedDoorDetectorConfig &__max__ = __getMax__();
00242 const ClosedDoorDetectorConfig &__min__ = __getMin__();
00243 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00244 (*i)->clamp(*this, __max__, __min__);
00245 }
00246
00247 uint32_t __level__(const ClosedDoorDetectorConfig &config) const
00248 {
00249 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00250 uint32_t level = 0;
00251 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00252 (*i)->calcLevel(level, config, *this);
00253 return level;
00254 }
00255
00256 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00257 static const ClosedDoorDetectorConfig &__getDefault__();
00258 static const ClosedDoorDetectorConfig &__getMax__();
00259 static const ClosedDoorDetectorConfig &__getMin__();
00260 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00261
00262 private:
00263 static const ClosedDoorDetectorConfigStatics *__get_statics__();
00264 };
00265
00266 template <>
00267 inline void ClosedDoorDetectorConfig::ParamDescription<std::string>::clamp(ClosedDoorDetectorConfig &config, const ClosedDoorDetectorConfig &max, const ClosedDoorDetectorConfig &min) const
00268 {
00269 return;
00270 }
00271
00272 class ClosedDoorDetectorConfigStatics
00273 {
00274 friend class ClosedDoorDetectorConfig;
00275
00276 ClosedDoorDetectorConfigStatics()
00277 {
00278
00279 __min__.min_door_width = 50;
00280
00281 __max__.min_door_width = 1500;
00282
00283 __default__.min_door_width = 300;
00284
00285 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("min_door_width", "int", 0, "Minimum door width", "", &ClosedDoorDetectorConfig::min_door_width)));
00286
00287 __min__.max_door_width = 50;
00288
00289 __max__.max_door_width = 1500;
00290
00291 __default__.max_door_width = 750;
00292
00293 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("max_door_width", "int", 0, "Maximum door width", "", &ClosedDoorDetectorConfig::max_door_width)));
00294
00295 __min__.min_door_height = 50;
00296
00297 __max__.min_door_height = 1500;
00298
00299 __default__.min_door_height = 850;
00300
00301 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("min_door_height", "int", 0, "Minimum door height", "", &ClosedDoorDetectorConfig::min_door_height)));
00302
00303 __min__.max_door_height = 50;
00304
00305 __max__.max_door_height = 1500;
00306
00307 __default__.max_door_height = 1200;
00308
00309 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("max_door_height", "int", 0, "Maximum door height", "", &ClosedDoorDetectorConfig::max_door_height)));
00310
00311 __min__.handle_width = 1;
00312
00313 __max__.handle_width = 20;
00314
00315 __default__.handle_width = 12;
00316
00317 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("handle_width", "int", 0, "Percentage of door width", "", &ClosedDoorDetectorConfig::handle_width)));
00318
00319 __min__.handle_height = 1;
00320
00321 __max__.handle_height = 20;
00322
00323 __default__.handle_height = 6;
00324
00325 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("handle_height", "int", 0, "Percentage of door height", "", &ClosedDoorDetectorConfig::handle_height)));
00326
00327 __min__.handle_location = 0;
00328
00329 __max__.handle_location = 50;
00330
00331 __default__.handle_location = 15;
00332
00333 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("handle_location", "int", 0, "Distance from door edge", "", &ClosedDoorDetectorConfig::handle_location)));
00334
00335 __min__.allowed_blobs = 0;
00336
00337 __max__.allowed_blobs = 400;
00338
00339 __default__.allowed_blobs = 130;
00340
00341 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("allowed_blobs", "int", 0, "Blob Threshold", "", &ClosedDoorDetectorConfig::allowed_blobs)));
00342
00343 __min__.segment_fidelity = 0;
00344
00345 __max__.segment_fidelity = 255;
00346
00347 __default__.segment_fidelity = 40;
00348
00349 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("segment_fidelity", "int", 0, "Edge Fidelity of Segmentation", "", &ClosedDoorDetectorConfig::segment_fidelity)));
00350
00351 __min__.segment_size = 0;
00352
00353 __max__.segment_size = 255;
00354
00355 __default__.segment_size = 40;
00356
00357 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("segment_size", "int", 0, "Segment Area", "", &ClosedDoorDetectorConfig::segment_size)));
00358
00359 __min__.debugging_images = 0;
00360
00361 __max__.debugging_images = 5;
00362
00363 __default__.debugging_images = 0;
00364
00365 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<int>("debugging_images", "int", 0, "Show Images for Debugging", "", &ClosedDoorDetectorConfig::debugging_images)));
00366
00367 __min__.no_simulator = 0;
00368
00369 __max__.no_simulator = 1;
00370
00371 __default__.no_simulator = 1;
00372
00373 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("no_simulator", "bool", 0, "Run without simulation", "", &ClosedDoorDetectorConfig::no_simulator)));
00374
00375 __min__.DSC = 0;
00376
00377 __max__.DSC = 1;
00378
00379 __default__.DSC = 0;
00380
00381 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("DSC", "bool", 0, "Show Door Size Calibrator", "", &ClosedDoorDetectorConfig::DSC)));
00382
00383 __min__.SHM = 0;
00384
00385 __max__.SHM = 1;
00386
00387 __default__.SHM = 0;
00388
00389 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("SHM", "bool", 0, "Show Handle Mask", "", &ClosedDoorDetectorConfig::SHM)));
00390
00391 __min__.SVP = 0;
00392
00393 __max__.SVP = 1;
00394
00395 __default__.SVP = 0;
00396
00397 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("SVP", "bool", 0, "Show Virtual Points", "", &ClosedDoorDetectorConfig::SVP)));
00398
00399 __min__.SFT = 0;
00400
00401 __max__.SFT = 1;
00402
00403 __default__.SFT = 0;
00404
00405 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("SFT", "bool", 0, "Show Flatness Test", "", &ClosedDoorDetectorConfig::SFT)));
00406
00407 __min__.Range_filter = 0;
00408
00409 __max__.Range_filter = 1;
00410
00411 __default__.Range_filter = 1;
00412
00413 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("Range_filter", "bool", 0, "Apply Sensor range filter", "", &ClosedDoorDetectorConfig::Range_filter)));
00414
00415 __min__.Persp_filter = 0;
00416
00417 __max__.Persp_filter = 1;
00418
00419 __default__.Persp_filter = 1;
00420
00421 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("Persp_filter", "bool", 0, "Apply Perspective filter", "", &ClosedDoorDetectorConfig::Persp_filter)));
00422
00423 __min__.Geom_filter = 0;
00424
00425 __max__.Geom_filter = 1;
00426
00427 __default__.Geom_filter = 1;
00428
00429 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("Geom_filter", "bool", 0, "Apply Geometry filter", "", &ClosedDoorDetectorConfig::Geom_filter)));
00430
00431 __min__.Size_filter = 0;
00432
00433 __max__.Size_filter = 1;
00434
00435 __default__.Size_filter = 1;
00436
00437 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("Size_filter", "bool", 0, "Apply Size filter", "", &ClosedDoorDetectorConfig::Size_filter)));
00438
00439 __min__.Aspect_filter = 0;
00440
00441 __max__.Aspect_filter = 1;
00442
00443 __default__.Aspect_filter = 1;
00444
00445 __param_descriptions__.push_back(ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr(new ClosedDoorDetectorConfig::ParamDescription<bool>("Aspect_filter", "bool", 0, "Apply Aspect ratio filter", "", &ClosedDoorDetectorConfig::Aspect_filter)));
00446
00447
00448 for (std::vector<ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00449 __description_message__.parameters.push_back(**i);
00450 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00451 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00452 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00453 }
00454 std::vector<ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00455 ClosedDoorDetectorConfig __max__;
00456 ClosedDoorDetectorConfig __min__;
00457 ClosedDoorDetectorConfig __default__;
00458 dynamic_reconfigure::ConfigDescription __description_message__;
00459 static const ClosedDoorDetectorConfigStatics *get_instance()
00460 {
00461
00462
00463
00464
00465 static ClosedDoorDetectorConfigStatics instance;
00466 return &instance;
00467 }
00468 };
00469
00470 inline const dynamic_reconfigure::ConfigDescription &ClosedDoorDetectorConfig::__getDescriptionMessage__()
00471 {
00472 return __get_statics__()->__description_message__;
00473 }
00474
00475 inline const ClosedDoorDetectorConfig &ClosedDoorDetectorConfig::__getDefault__()
00476 {
00477 return __get_statics__()->__default__;
00478 }
00479
00480 inline const ClosedDoorDetectorConfig &ClosedDoorDetectorConfig::__getMax__()
00481 {
00482 return __get_statics__()->__max__;
00483 }
00484
00485 inline const ClosedDoorDetectorConfig &ClosedDoorDetectorConfig::__getMin__()
00486 {
00487 return __get_statics__()->__min__;
00488 }
00489
00490 inline const std::vector<ClosedDoorDetectorConfig::AbstractParamDescriptionConstPtr> &ClosedDoorDetectorConfig::__getParamDescriptions__()
00491 {
00492 return __get_statics__()->__param_descriptions__;
00493 }
00494
00495 inline const ClosedDoorDetectorConfigStatics *ClosedDoorDetectorConfig::__get_statics__()
00496 {
00497 const static ClosedDoorDetectorConfigStatics *statics;
00498
00499 if (statics)
00500 return statics;
00501
00502 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00503
00504 if (statics)
00505 return statics;
00506
00507 statics = ClosedDoorDetectorConfigStatics::get_instance();
00508
00509 return statics;
00510 }
00511
00512
00513 }
00514
00515 #endif // __CLOSEDDOORDETECTORRECONFIGURATOR_H__