OpenDoorDetectorConfig.h
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00001 //#line 2 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
00002 // *********************************************************
00003 // 
00004 // File autogenerated for the iri_open_door_detector package 
00005 // by the dynamic_reconfigure package.
00006 // Please do not edit.
00007 // 
00008 // ********************************************************/
00009 
00010 /***********************************************************
00011  * Software License Agreement (BSD License)
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00043 
00044 // Author: Blaise Gassend
00045 
00046 
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 //#line 42 "../cfg/open_door_detector_alg_config.cfg"
00137       int min_x;
00138 //#line 43 "../cfg/open_door_detector_alg_config.cfg"
00139       int max_x;
00140 //#line 44 "../cfg/open_door_detector_alg_config.cfg"
00141       int min_y;
00142 //#line 45 "../cfg/open_door_detector_alg_config.cfg"
00143       int max_y;
00144 //#line 46 "../cfg/open_door_detector_alg_config.cfg"
00145       bool DSC;
00146 //#line 47 "../cfg/open_door_detector_alg_config.cfg"
00147       bool SVP;
00148 //#line 48 "../cfg/open_door_detector_alg_config.cfg"
00149       bool Range_filter;
00150 //#line 49 "../cfg/open_door_detector_alg_config.cfg"
00151       bool Persp_filter;
00152 //#line 50 "../cfg/open_door_detector_alg_config.cfg"
00153       bool Geom_filter;
00154 //#line 51 "../cfg/open_door_detector_alg_config.cfg"
00155       bool Size_filter;
00156 //#line 52 "../cfg/open_door_detector_alg_config.cfg"
00157       bool Aspect_filter;
00158 //#line 53 "../cfg/open_door_detector_alg_config.cfg"
00159       double security_distance;
00160 //#line 138 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
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         // @todo Check that there are no duplicates. Make this error more
00185         // explicit.
00186         return false;
00187       }
00188       return true;
00189     }
00190 
00191     // This version of __toMessage__ is used during initialization of
00192     // statics when __getParamDescriptions__ can't be called yet.
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 <> // Max and min are ignored for strings.
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 //#line 42 "../cfg/open_door_detector_alg_config.cfg"
00261       __min__.min_x = 50;
00262 //#line 42 "../cfg/open_door_detector_alg_config.cfg"
00263       __max__.min_x = 1500;
00264 //#line 42 "../cfg/open_door_detector_alg_config.cfg"
00265       __default__.min_x = 250;
00266 //#line 42 "../cfg/open_door_detector_alg_config.cfg"
00267       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_x", "int", 0, "Minimum door width", "", &OpenDoorDetectorConfig::min_x)));
00268 //#line 43 "../cfg/open_door_detector_alg_config.cfg"
00269       __min__.max_x = 50;
00270 //#line 43 "../cfg/open_door_detector_alg_config.cfg"
00271       __max__.max_x = 1500;
00272 //#line 43 "../cfg/open_door_detector_alg_config.cfg"
00273       __default__.max_x = 650;
00274 //#line 43 "../cfg/open_door_detector_alg_config.cfg"
00275       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_x", "int", 0, "Maximum door width", "", &OpenDoorDetectorConfig::max_x)));
00276 //#line 44 "../cfg/open_door_detector_alg_config.cfg"
00277       __min__.min_y = 50;
00278 //#line 44 "../cfg/open_door_detector_alg_config.cfg"
00279       __max__.min_y = 1500;
00280 //#line 44 "../cfg/open_door_detector_alg_config.cfg"
00281       __default__.min_y = 850;
00282 //#line 44 "../cfg/open_door_detector_alg_config.cfg"
00283       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("min_y", "int", 0, "Minimum door height", "", &OpenDoorDetectorConfig::min_y)));
00284 //#line 45 "../cfg/open_door_detector_alg_config.cfg"
00285       __min__.max_y = 50;
00286 //#line 45 "../cfg/open_door_detector_alg_config.cfg"
00287       __max__.max_y = 1500;
00288 //#line 45 "../cfg/open_door_detector_alg_config.cfg"
00289       __default__.max_y = 1200;
00290 //#line 45 "../cfg/open_door_detector_alg_config.cfg"
00291       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<int>("max_y", "int", 0, "Maximum door height", "", &OpenDoorDetectorConfig::max_y)));
00292 //#line 46 "../cfg/open_door_detector_alg_config.cfg"
00293       __min__.DSC = 0;
00294 //#line 46 "../cfg/open_door_detector_alg_config.cfg"
00295       __max__.DSC = 1;
00296 //#line 46 "../cfg/open_door_detector_alg_config.cfg"
00297       __default__.DSC = 0;
00298 //#line 46 "../cfg/open_door_detector_alg_config.cfg"
00299       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("DSC", "bool", 0, "Show Door Size Calibrator", "", &OpenDoorDetectorConfig::DSC)));
00300 //#line 47 "../cfg/open_door_detector_alg_config.cfg"
00301       __min__.SVP = 0;
00302 //#line 47 "../cfg/open_door_detector_alg_config.cfg"
00303       __max__.SVP = 1;
00304 //#line 47 "../cfg/open_door_detector_alg_config.cfg"
00305       __default__.SVP = 0;
00306 //#line 47 "../cfg/open_door_detector_alg_config.cfg"
00307       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("SVP", "bool", 0, "Show Virtual Points", "", &OpenDoorDetectorConfig::SVP)));
00308 //#line 48 "../cfg/open_door_detector_alg_config.cfg"
00309       __min__.Range_filter = 0;
00310 //#line 48 "../cfg/open_door_detector_alg_config.cfg"
00311       __max__.Range_filter = 1;
00312 //#line 48 "../cfg/open_door_detector_alg_config.cfg"
00313       __default__.Range_filter = 1;
00314 //#line 48 "../cfg/open_door_detector_alg_config.cfg"
00315       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Range_filter", "bool", 0, "Apply Sensor Range filter", "", &OpenDoorDetectorConfig::Range_filter)));
00316 //#line 49 "../cfg/open_door_detector_alg_config.cfg"
00317       __min__.Persp_filter = 0;
00318 //#line 49 "../cfg/open_door_detector_alg_config.cfg"
00319       __max__.Persp_filter = 1;
00320 //#line 49 "../cfg/open_door_detector_alg_config.cfg"
00321       __default__.Persp_filter = 1;
00322 //#line 49 "../cfg/open_door_detector_alg_config.cfg"
00323       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Persp_filter", "bool", 0, "Apply Perspective filter", "", &OpenDoorDetectorConfig::Persp_filter)));
00324 //#line 50 "../cfg/open_door_detector_alg_config.cfg"
00325       __min__.Geom_filter = 0;
00326 //#line 50 "../cfg/open_door_detector_alg_config.cfg"
00327       __max__.Geom_filter = 1;
00328 //#line 50 "../cfg/open_door_detector_alg_config.cfg"
00329       __default__.Geom_filter = 1;
00330 //#line 50 "../cfg/open_door_detector_alg_config.cfg"
00331       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Geom_filter", "bool", 0, "Apply Geometry filter", "", &OpenDoorDetectorConfig::Geom_filter)));
00332 //#line 51 "../cfg/open_door_detector_alg_config.cfg"
00333       __min__.Size_filter = 0;
00334 //#line 51 "../cfg/open_door_detector_alg_config.cfg"
00335       __max__.Size_filter = 1;
00336 //#line 51 "../cfg/open_door_detector_alg_config.cfg"
00337       __default__.Size_filter = 1;
00338 //#line 51 "../cfg/open_door_detector_alg_config.cfg"
00339       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Size_filter", "bool", 0, "Apply Size filter", "", &OpenDoorDetectorConfig::Size_filter)));
00340 //#line 52 "../cfg/open_door_detector_alg_config.cfg"
00341       __min__.Aspect_filter = 0;
00342 //#line 52 "../cfg/open_door_detector_alg_config.cfg"
00343       __max__.Aspect_filter = 1;
00344 //#line 52 "../cfg/open_door_detector_alg_config.cfg"
00345       __default__.Aspect_filter = 1;
00346 //#line 52 "../cfg/open_door_detector_alg_config.cfg"
00347       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<bool>("Aspect_filter", "bool", 0, "Apply Aspect ratio filter", "", &OpenDoorDetectorConfig::Aspect_filter)));
00348 //#line 53 "../cfg/open_door_detector_alg_config.cfg"
00349       __min__.security_distance = 0.2;
00350 //#line 53 "../cfg/open_door_detector_alg_config.cfg"
00351       __max__.security_distance = 1.5;
00352 //#line 53 "../cfg/open_door_detector_alg_config.cfg"
00353       __default__.security_distance = 0.5;
00354 //#line 53 "../cfg/open_door_detector_alg_config.cfg"
00355       __param_descriptions__.push_back(OpenDoorDetectorConfig::AbstractParamDescriptionConstPtr(new OpenDoorDetectorConfig::ParamDescription<double>("security_distance", "double", 0, "Gap between robot and door", "", &OpenDoorDetectorConfig::security_distance)));
00356 //#line 239 "/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h"
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       // Split this off in a separate function because I know that
00372       // instance will get initialized the first time get_instance is
00373       // called, and I am guaranteeing that get_instance gets called at
00374       // most once.
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) // Common case
00410       return statics;
00411 
00412     boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00413 
00414     if (statics) // In case we lost a race.
00415       return statics;
00416 
00417     statics = OpenDoorDetectorConfigStatics::get_instance();
00418     
00419     return statics;
00420   }
00421 
00422 
00423 }
00424 
00425 #endif // __OPENDOORDETECTORRECONFIGURATOR_H__


iri_door_detector
Author(s): Jose Rodriguez
autogenerated on Fri Dec 6 2013 23:57:16