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00047 #ifndef __iri_open_door_detector__OPENDOORDETECTORCONFIG_H__
00048 #define __iri_open_door_detector__OPENDOORDETECTORCONFIG_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_open_door_detector
00058 {
00059 class OpenDoorDetectorConfigStatics;
00060
00061 class OpenDoorDetectorConfig
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(OpenDoorDetectorConfig &config, const OpenDoorDetectorConfig &max, const OpenDoorDetectorConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const OpenDoorDetectorConfig &config1, const OpenDoorDetectorConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, OpenDoorDetectorConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const OpenDoorDetectorConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OpenDoorDetectorConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const OpenDoorDetectorConfig &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 OpenDoorDetectorConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (OpenDoorDetectorConfig::* field);
00099
00100 virtual void clamp(OpenDoorDetectorConfig &config, const OpenDoorDetectorConfig &max, const OpenDoorDetectorConfig &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 OpenDoorDetectorConfig &config1, const OpenDoorDetectorConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, OpenDoorDetectorConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const OpenDoorDetectorConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OpenDoorDetectorConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const OpenDoorDetectorConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int min_x;
00138
00139 int max_x;
00140
00141 int min_y;
00142
00143 int max_y;
00144
00145 bool DSC;
00146
00147 bool SVP;
00148
00149 bool Range_filter;
00150
00151 bool Persp_filter;
00152
00153 bool Geom_filter;
00154
00155 bool Size_filter;
00156
00157 bool Aspect_filter;
00158
00159 double security_distance;
00160
00161
00162 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00163 {
00164 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00165 int count = 0;
00166 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00167 if ((*i)->fromMessage(msg, *this))
00168 count++;
00169 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00170 {
00171 ROS_ERROR("OpenDoorDetectorConfig::__fromMessage__ called with an unexpected parameter.");
00172 ROS_ERROR("Booleans:");
00173 for (unsigned int i = 0; i < msg.bools.size(); i++)
00174 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00175 ROS_ERROR("Integers:");
00176 for (unsigned int i = 0; i < msg.ints.size(); i++)
00177 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00178 ROS_ERROR("Doubles:");
00179 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00180 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00181 ROS_ERROR("Strings:");
00182 for (unsigned int i = 0; i < msg.strs.size(); i++)
00183 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00184
00185
00186 return false;
00187 }
00188 return true;
00189 }
00190
00191
00192
00193 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00194 {
00195 dynamic_reconfigure::ConfigTools::clear(msg);
00196 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00197 (*i)->toMessage(msg, *this);
00198 }
00199
00200 void __toMessage__(dynamic_reconfigure::Config &msg) const
00201 {
00202 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00203 __toMessage__(msg, __param_descriptions__);
00204 }
00205
00206 void __toServer__(const ros::NodeHandle &nh) const
00207 {
00208 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00209 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00210 (*i)->toServer(nh, *this);
00211 }
00212
00213 void __fromServer__(const ros::NodeHandle &nh)
00214 {
00215 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00216 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00217 (*i)->fromServer(nh, *this);
00218 }
00219
00220 void __clamp__()
00221 {
00222 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00223 const OpenDoorDetectorConfig &__max__ = __getMax__();
00224 const OpenDoorDetectorConfig &__min__ = __getMin__();
00225 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00226 (*i)->clamp(*this, __max__, __min__);
00227 }
00228
00229 uint32_t __level__(const OpenDoorDetectorConfig &config) const
00230 {
00231 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00232 uint32_t level = 0;
00233 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00234 (*i)->calcLevel(level, config, *this);
00235 return level;
00236 }
00237
00238 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00239 static const OpenDoorDetectorConfig &__getDefault__();
00240 static const OpenDoorDetectorConfig &__getMax__();
00241 static const OpenDoorDetectorConfig &__getMin__();
00242 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00243
00244 private:
00245 static const OpenDoorDetectorConfigStatics *__get_statics__();
00246 };
00247
00248 template <>
00249 inline void OpenDoorDetectorConfig::ParamDescription<std::string>::clamp(OpenDoorDetectorConfig &config, const OpenDoorDetectorConfig &max, const OpenDoorDetectorConfig &min) const
00250 {
00251 return;
00252 }
00253
00254 class OpenDoorDetectorConfigStatics
00255 {
00256 friend class OpenDoorDetectorConfig;
00257
00258 OpenDoorDetectorConfigStatics()
00259 {
00260
00261 __min__.min_x = 50;
00262
00263 __max__.min_x = 1500;
00264
00265 __default__.min_x = 250;
00266
00267 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_x", "int", 0, "Minimum door width", "", &OpenDoorDetectorConfig::min_x)));
00268
00269 __min__.max_x = 50;
00270
00271 __max__.max_x = 1500;
00272
00273 __default__.max_x = 650;
00274
00275 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_x", "int", 0, "Maximum door width", "", &OpenDoorDetectorConfig::max_x)));
00276
00277 __min__.min_y = 50;
00278
00279 __max__.min_y = 1500;
00280
00281 __default__.min_y = 850;
00282
00283 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_y", "int", 0, "Minimum door height", "", &OpenDoorDetectorConfig::min_y)));
00284
00285 __min__.max_y = 50;
00286
00287 __max__.max_y = 1500;
00288
00289 __default__.max_y = 1200;
00290
00291 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_y", "int", 0, "Maximum door height", "", &OpenDoorDetectorConfig::max_y)));
00292
00293 __min__.DSC = 0;
00294
00295 __max__.DSC = 1;
00296
00297 __default__.DSC = 0;
00298
00299 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("DSC", "bool", 0, "Show Door Size Calibrator", "", &OpenDoorDetectorConfig::DSC)));
00300
00301 __min__.SVP = 0;
00302
00303 __max__.SVP = 1;
00304
00305 __default__.SVP = 0;
00306
00307 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("SVP", "bool", 0, "Show Virtual Points", "", &OpenDoorDetectorConfig::SVP)));
00308
00309 __min__.Range_filter = 0;
00310
00311 __max__.Range_filter = 1;
00312
00313 __default__.Range_filter = 1;
00314
00315 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Range_filter", "bool", 0, "Apply Sensor Range filter", "", &OpenDoorDetectorConfig::Range_filter)));
00316
00317 __min__.Persp_filter = 0;
00318
00319 __max__.Persp_filter = 1;
00320
00321 __default__.Persp_filter = 1;
00322
00323 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Persp_filter", "bool", 0, "Apply Perspective filter", "", &OpenDoorDetectorConfig::Persp_filter)));
00324
00325 __min__.Geom_filter = 0;
00326
00327 __max__.Geom_filter = 1;
00328
00329 __default__.Geom_filter = 1;
00330
00331 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Geom_filter", "bool", 0, "Apply Geometry filter", "", &OpenDoorDetectorConfig::Geom_filter)));
00332
00333 __min__.Size_filter = 0;
00334
00335 __max__.Size_filter = 1;
00336
00337 __default__.Size_filter = 1;
00338
00339 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Size_filter", "bool", 0, "Apply Size filter", "", &OpenDoorDetectorConfig::Size_filter)));
00340
00341 __min__.Aspect_filter = 0;
00342
00343 __max__.Aspect_filter = 1;
00344
00345 __default__.Aspect_filter = 1;
00346
00347 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Aspect_filter", "bool", 0, "Apply Aspect ratio filter", "", &OpenDoorDetectorConfig::Aspect_filter)));
00348
00349 __min__.security_distance = 0.2;
00350
00351 __max__.security_distance = 1.5;
00352
00353 __default__.security_distance = 0.5;
00354
00355 __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<double>("security_distance", "double", 0, "Gap between robot and door", "", &OpenDoorDetectorConfig::security_distance)));
00356
00357
00358 for (std::vector<OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00359 __description_message__.parameters.push_back(**i);
00360 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00361 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00362 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00363 }
00364 std::vector<OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00365 OpenDoorDetectorConfig __max__;
00366 OpenDoorDetectorConfig __min__;
00367 OpenDoorDetectorConfig __default__;
00368 dynamic_reconfigure::ConfigDescription __description_message__;
00369 static const OpenDoorDetectorConfigStatics *get_instance()
00370 {
00371
00372
00373
00374
00375 static OpenDoorDetectorConfigStatics instance;
00376 return &instance;
00377 }
00378 };
00379
00380 inline const dynamic_reconfigure::ConfigDescription &OpenDoorDetectorConfig::__getDescriptionMessage__()
00381 {
00382 return __get_statics__()->__description_message__;
00383 }
00384
00385 inline const OpenDoorDetectorConfig &OpenDoorDetectorConfig::__getDefault__()
00386 {
00387 return __get_statics__()->__default__;
00388 }
00389
00390 inline const OpenDoorDetectorConfig &OpenDoorDetectorConfig::__getMax__()
00391 {
00392 return __get_statics__()->__max__;
00393 }
00394
00395 inline const OpenDoorDetectorConfig &OpenDoorDetectorConfig::__getMin__()
00396 {
00397 return __get_statics__()->__min__;
00398 }
00399
00400 inline const std::vector<OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr> &OpenDoorDetectorConfig::__getParamDescriptions__()
00401 {
00402 return __get_statics__()->__param_descriptions__;
00403 }
00404
00405 inline const OpenDoorDetectorConfigStatics *OpenDoorDetectorConfig::__get_statics__()
00406 {
00407 const static OpenDoorDetectorConfigStatics *statics;
00408
00409 if (statics)
00410 return statics;
00411
00412 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00413
00414 if (statics)
00415 return statics;
00416
00417 statics = OpenDoorDetectorConfigStatics::get_instance();
00418
00419 return statics;
00420 }
00421
00422
00423 }
00424
00425 #endif // __OPENDOORDETECTORRECONFIGURATOR_H__