tk_vrqc2011: ExperimentOptions.cpp Source File

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00001 /*
00002  * ExperimentOptions.cpp
00003  *
00004  *  Created on: Oct 26, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #include "ExperimentOptions.hpp"
00009 
00010 namespace telekyb {
00011 
00012 //template<> ExperimentOptions* Singleton<ExperimentOptions>::instance = NULL;
00013 
00014 ExperimentOptions::ExperimentOptions()
00015 : OptionContainer("ExperimentOptions")
00016 {
00017 //      tJoystickTopic = addOption<std::string>("tJoystickTopic",
00018 //                      "Joysticktopic to use (sensor_msgs::Joy)", "/TeleKyb/tJoy/joy", false, true);
00019 //      tTransformInTopic = addOption<std::string>("tTransformInTopic",
00020 //                      "InputTransform to use (geometry_msgs::TransformStamped)", std::string(), true, true);
00021 //      tTransformOutTopic = addOption<std::string>("tTransformOutTopic",
00022 //                      "Topic name for output (geometry_msgs::TransformStamped)", "output", false, true);
00023         tClientHostname = addOption<std::string>("tClientHostname",
00024                         "Client Hostname to connect to", "localhost", false, true);
00025         tClientPort = addOption<int>("tClientPort",
00026                         "Client PortNumber to connect to", 9999, false, true);
00027 //      tMaxInputOffset = addOption<double>("tMaxInputOffset",
00028 //                      "Max Handoffset. Mapped to 1.0", 0.5 , false, true);
00029 
00030         robotID = addOption<int>("robotID", "Specify the robotID of the TeleKybSystem to connect to.", 0, false, true);
00031         tJoystickTopic = addOption<std::string>("tJoystickTopic",
00032                         "Joysticktopic to use (sensor_msgs::Joy)", "/TeleKyb/tJoy/joy", false, true);
00033         tHandJoystickTopic = addOption<std::string>("tHandJoystickTopic",
00034                         "Joysticktopic to use (sensor_msgs::Joy)", "undef", true, true);
00035         tUseMKInterface = addOption<bool>("tUseMKInterface", "Set to true with MKInterface!", false, false, true);
00036 
00037         tXYOffsetTranslation =
00038                         addOption<Eigen::Vector2d>("tXYOffsetTranslation", "Move Center of Fly area!", Eigen::Vector2d::Zero(), false, true);
00039         tMaxSquareAreaSize =
00040                         addOption<double>("tMaxSquareAreaSize", "Max Area Size to fly to", 2.0, false, true);
00041 
00042 }
00043 
00044 }