OpenDoorDetectorConfig.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__OPENDOORDETECTORCONFIG_H__
#define __iri_door_detector__OPENDOORDETECTORCONFIG_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 OpenDoorDetectorConfigStatics;
  
  class OpenDoorDetectorConfig
  {
  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(OpenDoorDetectorConfig &config, const OpenDoorDetectorConfig &max, const OpenDoorDetectorConfig &min) const = 0;
      virtual void calcLevel(uint32_t &level, const OpenDoorDetectorConfig &config1, const OpenDoorDetectorConfig &config2) const = 0;
      virtual void fromServer(const ros::NodeHandle &nh, OpenDoorDetectorConfig &config) const = 0;
      virtual void toServer(const ros::NodeHandle &nh, const OpenDoorDetectorConfig &config) const = 0;
      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OpenDoorDetectorConfig &config) const = 0;
      virtual void toMessage(dynamic_reconfigure::Config &msg, const OpenDoorDetectorConfig &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 OpenDoorDetectorConfig::* f) :
        AbstractParamDescription(name, type, level, description, edit_method),
        field(f)
      {}

      T (OpenDoorDetectorConfig::* field);

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

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

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

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

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

//#line 42 "../cfg/open_door_detector_alg_config.cfg"
      int min_x;
//#line 43 "../cfg/open_door_detector_alg_config.cfg"
      int max_x;
//#line 44 "../cfg/open_door_detector_alg_config.cfg"
      int min_y;
//#line 45 "../cfg/open_door_detector_alg_config.cfg"
      int max_y;
//#line 46 "../cfg/open_door_detector_alg_config.cfg"
      int debugging_images;
//#line 47 "../cfg/open_door_detector_alg_config.cfg"
      bool no_simulator;
//#line 48 "../cfg/open_door_detector_alg_config.cfg"
      bool DSC;
//#line 49 "../cfg/open_door_detector_alg_config.cfg"
      bool SVP;
//#line 50 "../cfg/open_door_detector_alg_config.cfg"
      bool SVL;
//#line 51 "../cfg/open_door_detector_alg_config.cfg"
      bool SFC;
//#line 52 "../cfg/open_door_detector_alg_config.cfg"
      bool Range_filter;
//#line 53 "../cfg/open_door_detector_alg_config.cfg"
      bool Persp_filter;
//#line 54 "../cfg/open_door_detector_alg_config.cfg"
      bool Geom_filter;
//#line 55 "../cfg/open_door_detector_alg_config.cfg"
      bool Size_filter;
//#line 56 "../cfg/open_door_detector_alg_config.cfg"
      bool Aspect_filter;
//#line 57 "../cfg/open_door_detector_alg_config.cfg"
      double security_distance;
//#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("OpenDoorDetectorConfig::__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 OpenDoorDetectorConfig &__max__ = __getMax__();
      const OpenDoorDetectorConfig &__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 OpenDoorDetectorConfig &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 OpenDoorDetectorConfig &__getDefault__();
    static const OpenDoorDetectorConfig &__getMax__();
    static const OpenDoorDetectorConfig &__getMin__();
    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
    
  private:
    static const OpenDoorDetectorConfigStatics *__get_statics__();
  };
  
  template <> // Max and min are ignored for strings.
  inline void OpenDoorDetectorConfig::ParamDescription<std::string>::clamp(OpenDoorDetectorConfig &config, const OpenDoorDetectorConfig &max, const OpenDoorDetectorConfig &min) const
  {
    return;
  }

  class OpenDoorDetectorConfigStatics
  {
    friend class OpenDoorDetectorConfig;
    
    OpenDoorDetectorConfigStatics()
    {
//#line 42 "../cfg/open_door_detector_alg_config.cfg"
      __min__.min_x = 50;
//#line 42 "../cfg/open_door_detector_alg_config.cfg"
      __max__.min_x = 1500;
//#line 42 "../cfg/open_door_detector_alg_config.cfg"
      __default__.min_x = 300;
//#line 42 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_x", "int", 0, "Minimum door width", "", &OpenDoorDetectorConfig::min_x)));
//#line 43 "../cfg/open_door_detector_alg_config.cfg"
      __min__.max_x = 50;
//#line 43 "../cfg/open_door_detector_alg_config.cfg"
      __max__.max_x = 1500;
//#line 43 "../cfg/open_door_detector_alg_config.cfg"
      __default__.max_x = 750;
//#line 43 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_x", "int", 0, "Maximum door width", "", &OpenDoorDetectorConfig::max_x)));
//#line 44 "../cfg/open_door_detector_alg_config.cfg"
      __min__.min_y = 50;
//#line 44 "../cfg/open_door_detector_alg_config.cfg"
      __max__.min_y = 1500;
//#line 44 "../cfg/open_door_detector_alg_config.cfg"
      __default__.min_y = 850;
//#line 44 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_y", "int", 0, "Minimum door height", "", &OpenDoorDetectorConfig::min_y)));
//#line 45 "../cfg/open_door_detector_alg_config.cfg"
      __min__.max_y = 50;
//#line 45 "../cfg/open_door_detector_alg_config.cfg"
      __max__.max_y = 1500;
//#line 45 "../cfg/open_door_detector_alg_config.cfg"
      __default__.max_y = 1200;
//#line 45 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_y", "int", 0, "Maximum door height", "", &OpenDoorDetectorConfig::max_y)));
//#line 46 "../cfg/open_door_detector_alg_config.cfg"
      __min__.debugging_images = 0;
//#line 46 "../cfg/open_door_detector_alg_config.cfg"
      __max__.debugging_images = 2;
//#line 46 "../cfg/open_door_detector_alg_config.cfg"
      __default__.debugging_images = 0;
//#line 46 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("debugging_images", "int", 0, "Show Images for Debugging", "", &OpenDoorDetectorConfig::debugging_images)));
//#line 47 "../cfg/open_door_detector_alg_config.cfg"
      __min__.no_simulator = 0;
//#line 47 "../cfg/open_door_detector_alg_config.cfg"
      __max__.no_simulator = 1;
//#line 47 "../cfg/open_door_detector_alg_config.cfg"
      __default__.no_simulator = 1;
//#line 47 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("no_simulator", "bool", 0, "Run without simulation", "", &OpenDoorDetectorConfig::no_simulator)));
//#line 48 "../cfg/open_door_detector_alg_config.cfg"
      __min__.DSC = 0;
//#line 48 "../cfg/open_door_detector_alg_config.cfg"
      __max__.DSC = 1;
//#line 48 "../cfg/open_door_detector_alg_config.cfg"
      __default__.DSC = 0;
//#line 48 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("DSC", "bool", 0, "Show Door Size Calibrator", "", &OpenDoorDetectorConfig::DSC)));
//#line 49 "../cfg/open_door_detector_alg_config.cfg"
      __min__.SVP = 0;
//#line 49 "../cfg/open_door_detector_alg_config.cfg"
      __max__.SVP = 1;
//#line 49 "../cfg/open_door_detector_alg_config.cfg"
      __default__.SVP = 0;
//#line 49 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("SVP", "bool", 0, "Show Virtual Points", "", &OpenDoorDetectorConfig::SVP)));
//#line 50 "../cfg/open_door_detector_alg_config.cfg"
      __min__.SVL = 0;
//#line 50 "../cfg/open_door_detector_alg_config.cfg"
      __max__.SVL = 1;
//#line 50 "../cfg/open_door_detector_alg_config.cfg"
      __default__.SVL = 0;
//#line 50 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("SVL", "bool", 0, "Show Virtual Lines", "", &OpenDoorDetectorConfig::SVL)));
//#line 51 "../cfg/open_door_detector_alg_config.cfg"
      __min__.SFC = 0;
//#line 51 "../cfg/open_door_detector_alg_config.cfg"
      __max__.SFC = 1;
//#line 51 "../cfg/open_door_detector_alg_config.cfg"
      __default__.SFC = 0;
//#line 51 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("SFC", "bool", 0, "Show Door Frame Candidates", "", &OpenDoorDetectorConfig::SFC)));
//#line 52 "../cfg/open_door_detector_alg_config.cfg"
      __min__.Range_filter = 0;
//#line 52 "../cfg/open_door_detector_alg_config.cfg"
      __max__.Range_filter = 1;
//#line 52 "../cfg/open_door_detector_alg_config.cfg"
      __default__.Range_filter = 1;
//#line 52 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Range_filter", "bool", 0, "Apply Sensor Range filter", "", &OpenDoorDetectorConfig::Range_filter)));
//#line 53 "../cfg/open_door_detector_alg_config.cfg"
      __min__.Persp_filter = 0;
//#line 53 "../cfg/open_door_detector_alg_config.cfg"
      __max__.Persp_filter = 1;
//#line 53 "../cfg/open_door_detector_alg_config.cfg"
      __default__.Persp_filter = 1;
//#line 53 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Persp_filter", "bool", 0, "Apply Perspective filter", "", &OpenDoorDetectorConfig::Persp_filter)));
//#line 54 "../cfg/open_door_detector_alg_config.cfg"
      __min__.Geom_filter = 0;
//#line 54 "../cfg/open_door_detector_alg_config.cfg"
      __max__.Geom_filter = 1;
//#line 54 "../cfg/open_door_detector_alg_config.cfg"
      __default__.Geom_filter = 1;
//#line 54 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Geom_filter", "bool", 0, "Apply Geometry filter", "", &OpenDoorDetectorConfig::Geom_filter)));
//#line 55 "../cfg/open_door_detector_alg_config.cfg"
      __min__.Size_filter = 0;
//#line 55 "../cfg/open_door_detector_alg_config.cfg"
      __max__.Size_filter = 1;
//#line 55 "../cfg/open_door_detector_alg_config.cfg"
      __default__.Size_filter = 1;
//#line 55 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Size_filter", "bool", 0, "Apply Size filter", "", &OpenDoorDetectorConfig::Size_filter)));
//#line 56 "../cfg/open_door_detector_alg_config.cfg"
      __min__.Aspect_filter = 0;
//#line 56 "../cfg/open_door_detector_alg_config.cfg"
      __max__.Aspect_filter = 1;
//#line 56 "../cfg/open_door_detector_alg_config.cfg"
      __default__.Aspect_filter = 1;
//#line 56 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Aspect_filter", "bool", 0, "Apply Aspect ratio filter", "", &OpenDoorDetectorConfig::Aspect_filter)));
//#line 57 "../cfg/open_door_detector_alg_config.cfg"
      __min__.security_distance = 0.2;
//#line 57 "../cfg/open_door_detector_alg_config.cfg"
      __max__.security_distance = 1.5;
//#line 57 "../cfg/open_door_detector_alg_config.cfg"
      __default__.security_distance = 0.5;
//#line 57 "../cfg/open_door_detector_alg_config.cfg"
      __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<double>("security_distance", "double", 0, "Gap between robot and door", "", &OpenDoorDetectorConfig::security_distance)));
//#line 239 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
    
      for (std::vector<OpenDoorDetectorConfig::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<OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
    OpenDoorDetectorConfig __max__;
    OpenDoorDetectorConfig __min__;
    OpenDoorDetectorConfig __default__;
    dynamic_reconfigure::ConfigDescription __description_message__;
    static const OpenDoorDetectorConfigStatics *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 OpenDoorDetectorConfigStatics instance;
      return &instance;
    }
  };

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

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

  inline const OpenDoorDetectorConfigStatics *OpenDoorDetectorConfig::__get_statics__()
  {
    const static OpenDoorDetectorConfigStatics *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 = OpenDoorDetectorConfigStatics::get_instance();
    
    return statics;
  }


}

#endif // __OPENDOORDETECTORRECONFIGURATOR_H__