rawlog_play_node_parameters.cpp
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
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00016  *                                                                                 *
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00028 
00029 #include "rawlog_play_node.h"
00030 #include "rawlog_play_node_defaults.h"
00031 
00032 RawlogPlayNode::ParametersNode::ParametersNode()
00033     : Parameters(), node("~") {
00034     node.param<double>("rate", rate, RAWLOG_PLAY_NODE_DEFAULT_RATE);
00035     ROS_INFO("rate: %f", rate);
00036     node.param<int>("parameter_update_skip", parameter_update_skip, RAWLOG_PLAY_NODE_DEFAULT_PARAMETER_UPDATE_SKIP);
00037     ROS_INFO("parameter_update_skip: %i", parameter_update_skip);
00038     node.getParam("rawlog_file", rawlog_file);
00039     ROS_INFO("rawlog_file: %s", rawlog_file.c_str());
00040     node.param<std::string>("odom_frame", odom_frame, "odom");
00041     ROS_INFO("odom_frame: %s", odom_frame.c_str());
00042     node.param<std::string>("base_frame", base_frame, "base_link");
00043     ROS_INFO("base_frame: %s", base_frame.c_str());
00044     node.param<std::string>("tf_prefix", tf_prefix, "");
00045     ROS_INFO("tf_prefix: %s", tf_prefix.c_str());
00046     reconfigureFnc_ = boost::bind(&RawlogPlayNode::ParametersNode::callbackParameters, this ,  _1, _2);
00047     reconfigureServer_.setCallback(reconfigureFnc_);
00048 }
00049 
00050 void RawlogPlayNode::ParametersNode::update(const unsigned long &loop_count) {
00051     if(loop_count % parameter_update_skip) return;
00052     node.getParam("debug", debug);
00053     if(loop_count == 0) ROS_INFO("debug:  %s", (debug ? "true" : "false"));
00054 }
00055 
00056 
00057 void RawlogPlayNode::ParametersNode::callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level ) {
00058     if(config.motion_noise_type == MOTION_MODEL_GAUSSIAN) {
00059         motionModelOptions.modelSelection = mrpt::slam::CActionRobotMovement2D::mmGaussian;
00060         motionModelOptions.gausianModel.a1 = config.gaussian_alpha_1;
00061         motionModelOptions.gausianModel.a2 = config.gaussian_alpha_2;
00062         motionModelOptions.gausianModel.a3 = config.gaussian_alpha_3;
00063         motionModelOptions.gausianModel.a4 = config.gaussian_alpha_4;
00064         motionModelOptions.gausianModel.minStdXY  = config.gaussian_alpha_xy;
00065         motionModelOptions.gausianModel.minStdPHI = config.gaussian_alpha_phi;
00066         ROS_INFO("gausianModel.a1: %f", motionModelOptions.gausianModel.a1);
00067         ROS_INFO("gausianModel.a2: %f", motionModelOptions.gausianModel.a2);
00068         ROS_INFO("gausianModel.a3: %f", motionModelOptions.gausianModel.a3);
00069         ROS_INFO("gausianModel.a4: %f", motionModelOptions.gausianModel.a4);
00070         ROS_INFO("gausianModel.minStdXY: %f", motionModelOptions.gausianModel.minStdXY);
00071         ROS_INFO("gausianModel.minStdPHI: %f", motionModelOptions.gausianModel.minStdPHI);
00072     }
00073 }


mrpt_rawlog
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autogenerated on Tue Aug 5 2014 10:58:08