JointspubConfig.h
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00001 //#line 2 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00002 // *********************************************************
00003 // 
00004 // File autogenerated for the iri_jointspub package 
00005 // by the dynamic_reconfigure package.
00006 // Please do not edit.
00007 // 
00008 // ********************************************************/
00009 
00010 /***********************************************************
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00043 
00044 // Author: Blaise Gassend
00045 
00046 
00047 #ifndef __iri_jointspub__JOINTSPUBCONFIG_H__
00048 #define __iri_jointspub__JOINTSPUBCONFIG_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/Group.h>
00056 #include <dynamic_reconfigure/config_init_mutex.h>
00057 #include <boost/any.hpp>
00058 
00059 namespace iri_jointspub
00060 {
00061   class JointspubConfigStatics;
00062   
00063   class JointspubConfig
00064   {
00065   public:
00066     class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00067     {
00068     public:
00069       AbstractParamDescription(std::string n, std::string t, uint32_t l, 
00070           std::string d, std::string e)
00071       {
00072         name = n;
00073         type = t;
00074         level = l;
00075         description = d;
00076         edit_method = e;
00077       }
00078       
00079       virtual void clamp(JointspubConfig &config, const JointspubConfig &max, const JointspubConfig &min) const = 0;
00080       virtual void calcLevel(uint32_t &level, const JointspubConfig &config1, const JointspubConfig &config2) const = 0;
00081       virtual void fromServer(const ros::NodeHandle &nh, JointspubConfig &config) const = 0;
00082       virtual void toServer(const ros::NodeHandle &nh, const JointspubConfig &config) const = 0;
00083       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, JointspubConfig &config) const = 0;
00084       virtual void toMessage(dynamic_reconfigure::Config &msg, const JointspubConfig &config) const = 0;
00085       virtual void getValue(const JointspubConfig &config, boost::any &val) const = 0;
00086     };
00087 
00088     typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00089     typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00090     
00091     template <class T>
00092     class ParamDescription : public AbstractParamDescription
00093     {
00094     public:
00095       ParamDescription(std::string name, std::string type, uint32_t level, 
00096           std::string description, std::string edit_method, T JointspubConfig::* f) :
00097         AbstractParamDescription(name, type, level, description, edit_method),
00098         field(f)
00099       {}
00100 
00101       T (JointspubConfig::* field);
00102 
00103       virtual void clamp(JointspubConfig &config, const JointspubConfig &max, const JointspubConfig &min) const
00104       {
00105         if (config.*field > max.*field)
00106           config.*field = max.*field;
00107         
00108         if (config.*field < min.*field)
00109           config.*field = min.*field;
00110       }
00111 
00112       virtual void calcLevel(uint32_t &comb_level, const JointspubConfig &config1, const JointspubConfig &config2) const
00113       {
00114         if (config1.*field != config2.*field)
00115           comb_level |= level;
00116       }
00117 
00118       virtual void fromServer(const ros::NodeHandle &nh, JointspubConfig &config) const
00119       {
00120         nh.getParam(name, config.*field);
00121       }
00122 
00123       virtual void toServer(const ros::NodeHandle &nh, const JointspubConfig &config) const
00124       {
00125         nh.setParam(name, config.*field);
00126       }
00127 
00128       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, JointspubConfig &config) const
00129       {
00130         return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00131       }
00132 
00133       virtual void toMessage(dynamic_reconfigure::Config &msg, const JointspubConfig &config) const
00134       {
00135         dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00136       }
00137 
00138       virtual void getValue(const JointspubConfig &config, boost::any &val) const
00139       {
00140         val = config.*field;
00141       }
00142     };
00143 
00144     class AbstractGroupDescription : public dynamic_reconfigure::Group
00145     {
00146       public:
00147       AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
00148       {
00149         name = n;
00150         type = t;
00151         parent = p;
00152         state = s;
00153         id = i;
00154       }
00155 
00156       std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
00157       bool state;
00158 
00159       virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
00160       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
00161       virtual void updateParams(boost::any &cfg, JointspubConfig &top) const= 0;
00162       virtual void setInitialState(boost::any &cfg) const = 0;
00163 
00164 
00165       void convertParams()
00166       {
00167         for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); i++)
00168         {
00169           parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
00170         }
00171       }
00172     };
00173 
00174     typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
00175     typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
00176 
00177     template<class T, class PT>
00178     class GroupDescription : public AbstractGroupDescription
00179     {
00180     public:
00181       GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
00182       {
00183       }
00184 
00185       GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
00186       {
00187         parameters = g.parameters;
00188         abstract_parameters = g.abstract_parameters;
00189       }
00190 
00191       virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
00192       {
00193         PT* config = boost::any_cast<PT*>(cfg);
00194         if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
00195           return false;
00196         
00197         for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++) 
00198         {
00199           boost::any n = &((*config).*field);
00200           if(!(*i)->fromMessage(msg, n))
00201             return false;
00202         }
00203 
00204         return true;
00205       }
00206 
00207       virtual void setInitialState(boost::any &cfg) const
00208       {
00209         PT* config = boost::any_cast<PT*>(cfg);
00210         T* group = &((*config).*field);
00211         group->state = state;
00212 
00213         for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
00214         {
00215           boost::any n = boost::any(&((*config).*field));
00216           (*i)->setInitialState(n);
00217         }
00218 
00219       }
00220       
00221       virtual void updateParams(boost::any &cfg, JointspubConfig &top) const
00222       {
00223         PT* config = boost::any_cast<PT*>(cfg);
00224 
00225         T* f = &((*config).*field);
00226         f->setParams(top, abstract_parameters);
00227 
00228         for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++) 
00229         {
00230           boost::any n = &((*config).*field);
00231           (*i)->updateParams(n, top);
00232         }
00233       }
00234 
00235       virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
00236       {
00237         const PT config = boost::any_cast<PT>(cfg);
00238         dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
00239 
00240         for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
00241         {
00242           (*i)->toMessage(msg, config.*field);
00243         }
00244       }
00245 
00246       T (PT::* field);
00247       std::vector<JointspubConfig::AbstractGroupDescriptionConstPtr> groups;
00248     };
00249     
00250 class DEFAULT
00251 {
00252   public:
00253     DEFAULT()
00254     {
00255       state = true;
00256       name = "Default";
00257     }
00258 
00259     void setParams(JointspubConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
00260     {
00261       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = params.begin(); i != params.end(); i++)
00262       {
00263         boost::any val;
00264         (*i)->getValue(config, val);
00265 
00266 
00267       }
00268     }
00269 
00270     
00271 
00272     bool state;
00273     std::string name;
00274 
00275     
00276 }groups;
00277 
00278 
00279 
00280 
00281 //#line 255 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00282 
00283     bool __fromMessage__(dynamic_reconfigure::Config &msg)
00284     {
00285       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00286       const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
00287 
00288       int count = 0;
00289       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00290         if ((*i)->fromMessage(msg, *this))
00291           count++;
00292 
00293       for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
00294       {
00295         if ((*i)->id == 0)
00296         {
00297           boost::any n = boost::any(this);
00298           (*i)->updateParams(n, *this);
00299           (*i)->fromMessage(msg, n);
00300         }
00301       }
00302 
00303       if (count != dynamic_reconfigure::ConfigTools::size(msg))
00304       {
00305         ROS_ERROR("JointspubConfig::__fromMessage__ called with an unexpected parameter.");
00306         ROS_ERROR("Booleans:");
00307         for (unsigned int i = 0; i < msg.bools.size(); i++)
00308           ROS_ERROR("  %s", msg.bools[i].name.c_str());
00309         ROS_ERROR("Integers:");
00310         for (unsigned int i = 0; i < msg.ints.size(); i++)
00311           ROS_ERROR("  %s", msg.ints[i].name.c_str());
00312         ROS_ERROR("Doubles:");
00313         for (unsigned int i = 0; i < msg.doubles.size(); i++)
00314           ROS_ERROR("  %s", msg.doubles[i].name.c_str());
00315         ROS_ERROR("Strings:");
00316         for (unsigned int i = 0; i < msg.strs.size(); i++)
00317           ROS_ERROR("  %s", msg.strs[i].name.c_str());
00318         // @todo Check that there are no duplicates. Make this error more
00319         // explicit.
00320         return false;
00321       }
00322       return true;
00323     }
00324 
00325     // This version of __toMessage__ is used during initialization of
00326     // statics when __getParamDescriptions__ can't be called yet.
00327     void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
00328     {
00329       dynamic_reconfigure::ConfigTools::clear(msg);
00330       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00331         (*i)->toMessage(msg, *this);
00332 
00333       for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++)
00334       {
00335         if((*i)->id == 0)
00336         {
00337           (*i)->toMessage(msg, *this);
00338         }
00339       }
00340     }
00341     
00342     void __toMessage__(dynamic_reconfigure::Config &msg) const
00343     {
00344       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00345       const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
00346       __toMessage__(msg, __param_descriptions__, __group_descriptions__);
00347     }
00348     
00349     void __toServer__(const ros::NodeHandle &nh) const
00350     {
00351       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00352       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00353         (*i)->toServer(nh, *this);
00354     }
00355 
00356     void __fromServer__(const ros::NodeHandle &nh)
00357     {
00358       static bool setup=false;
00359 
00360       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00361       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00362         (*i)->fromServer(nh, *this);
00363 
00364       const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
00365       for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
00366         if (!setup && (*i)->id == 0) {
00367           setup = true;
00368           boost::any n = boost::any(this);
00369           (*i)->setInitialState(n);
00370         }
00371       }
00372     }
00373 
00374     void __clamp__()
00375     {
00376       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00377       const JointspubConfig &__max__ = __getMax__();
00378       const JointspubConfig &__min__ = __getMin__();
00379       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00380         (*i)->clamp(*this, __max__, __min__);
00381     }
00382 
00383     uint32_t __level__(const JointspubConfig &config) const
00384     {
00385       const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00386       uint32_t level = 0;
00387       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00388         (*i)->calcLevel(level, config, *this);
00389       return level;
00390     }
00391     
00392     static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00393     static const JointspubConfig &__getDefault__();
00394     static const JointspubConfig &__getMax__();
00395     static const JointspubConfig &__getMin__();
00396     static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00397     static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
00398     
00399   private:
00400     static const JointspubConfigStatics *__get_statics__();
00401   };
00402   
00403   template <> // Max and min are ignored for strings.
00404   inline void JointspubConfig::ParamDescription<std::string>::clamp(JointspubConfig &config, const JointspubConfig &max, const JointspubConfig &min) const
00405   {
00406     return;
00407   }
00408 
00409   class JointspubConfigStatics
00410   {
00411     friend class JointspubConfig;
00412     
00413     JointspubConfigStatics()
00414     {
00415 JointspubConfig::GroupDescription<JointspubConfig::DEFAULT, JointspubConfig> Default("Default", "", 0, 0, true, &JointspubConfig::groups);
00416 //#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00417       Default.convertParams();
00418 //#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00419       __group_descriptions__.push_back(JointspubConfig::AbstractGroupDescriptionConstPtr(new JointspubConfig::GroupDescription<JointspubConfig::DEFAULT, JointspubConfig>(Default)));
00420 //#line 390 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00421     
00422       for (std::vector<JointspubConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++)
00423       {
00424         __description_message__.groups.push_back(**i);
00425       }
00426       __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); 
00427       __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); 
00428       __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); 
00429     }
00430     std::vector<JointspubConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00431     std::vector<JointspubConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
00432     JointspubConfig __max__;
00433     JointspubConfig __min__;
00434     JointspubConfig __default__;
00435     dynamic_reconfigure::ConfigDescription __description_message__;
00436 
00437     static const JointspubConfigStatics *get_instance()
00438     {
00439       // Split this off in a separate function because I know that
00440       // instance will get initialized the first time get_instance is
00441       // called, and I am guaranteeing that get_instance gets called at
00442       // most once.
00443       static JointspubConfigStatics instance;
00444       return &instance;
00445     }
00446   };
00447 
00448   inline const dynamic_reconfigure::ConfigDescription &JointspubConfig::__getDescriptionMessage__() 
00449   {
00450     return __get_statics__()->__description_message__;
00451   }
00452 
00453   inline const JointspubConfig &JointspubConfig::__getDefault__()
00454   {
00455     return __get_statics__()->__default__;
00456   }
00457   
00458   inline const JointspubConfig &JointspubConfig::__getMax__()
00459   {
00460     return __get_statics__()->__max__;
00461   }
00462   
00463   inline const JointspubConfig &JointspubConfig::__getMin__()
00464   {
00465     return __get_statics__()->__min__;
00466   }
00467   
00468   inline const std::vector<JointspubConfig::AbstractParamDescriptionConstPtr> &JointspubConfig::__getParamDescriptions__()
00469   {
00470     return __get_statics__()->__param_descriptions__;
00471   }
00472 
00473   inline const std::vector<JointspubConfig::AbstractGroupDescriptionConstPtr> &JointspubConfig::__getGroupDescriptions__()
00474   {
00475     return __get_statics__()->__group_descriptions__;
00476   }
00477 
00478   inline const JointspubConfigStatics *JointspubConfig::__get_statics__()
00479   {
00480     const static JointspubConfigStatics *statics;
00481   
00482     if (statics) // Common case
00483       return statics;
00484 
00485     boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00486 
00487     if (statics) // In case we lost a race.
00488       return statics;
00489 
00490     statics = JointspubConfigStatics::get_instance();
00491     
00492     return statics;
00493   }
00494 
00495 
00496 }
00497 
00498 #endif // __JOINTSPUBRECONFIGURATOR_H__


iri_jointspub
Author(s): asantamaria
autogenerated on Fri Dec 6 2013 20:59:22