rawlog_record_node_parameters.cpp

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#include "rawlog_record_node.h"
#include "rawlog_record_node_defaults.h"

RawlogRecordNode::ParametersNode::ParametersNode()
    : Parameters(), node("~") {
    node.param<double>("rate", rate, RAWLOG_RECORD_NODE_DEFAULT_RATE);
    ROS_INFO("rate: %f", rate);
    node.param<int>("parameter_update_skip", parameter_update_skip, RAWLOG_RECORD_NODE_DEFAULT_PARAMETER_UPDATE_SKIP);
    ROS_INFO("parameter_update_skip: %i", parameter_update_skip);
    node.param<std::string>("tf_prefix", tf_prefix, "");
    ROS_INFO("tf_prefix: %s", tf_prefix.c_str());
    node.param<std::string>("odom_frame_id", odom_frame_id, "odom");
    ROS_INFO("odom_frame_id: %s", odom_frame_id.c_str());
    node.param<std::string>("base_frame_id", base_frame_id, "base_link");
    ROS_INFO("base_frame_id: %s", base_frame_id.c_str());
    node.getParam("raw_log_folder", raw_log_folder);
    ROS_INFO("raw_log_folder: %s", raw_log_folder.c_str());
    reconfigureFnc_ = boost::bind(&RawlogRecordNode::ParametersNode::callbackParameters, this ,  _1, _2);
    reconfigureServer_.setCallback(reconfigureFnc_);
}

void RawlogRecordNode::ParametersNode::update(const unsigned long &loop_count) {
    if(loop_count % parameter_update_skip) return;
    node.getParam("debug", debug);
    if(loop_count == 0) ROS_INFO("debug:  %s", (debug ? "true" : "false"));
}

void RawlogRecordNode::ParametersNode::callbackParameters (mrpt_rawlog::MotionConfig &config, uint32_t level ) {
    if(config.motion_noise_type == MOTION_MODEL_GAUSSIAN) {
        motionModelOptions.modelSelection = mrpt::slam::CActionRobotMovement2D::mmGaussian;
        motionModelOptions.gausianModel.a1 = config.gaussian_alpha_1;
        motionModelOptions.gausianModel.a2 = config.gaussian_alpha_2;
        motionModelOptions.gausianModel.a3 = config.gaussian_alpha_3;
        motionModelOptions.gausianModel.a4 = config.gaussian_alpha_4;
        motionModelOptions.gausianModel.minStdXY  = config.gaussian_alpha_xy;
        motionModelOptions.gausianModel.minStdPHI = config.gaussian_alpha_phi;
        ROS_INFO("gausianModel.a1: %f", motionModelOptions.gausianModel.a1);
        ROS_INFO("gausianModel.a2: %f", motionModelOptions.gausianModel.a2);
        ROS_INFO("gausianModel.a3: %f", motionModelOptions.gausianModel.a3);
        ROS_INFO("gausianModel.a4: %f", motionModelOptions.gausianModel.a4);
        ROS_INFO("gausianModel.minStdXY: %f", motionModelOptions.gausianModel.minStdXY);
        ROS_INFO("gausianModel.minStdPHI: %f", motionModelOptions.gausianModel.minStdPHI);
    }
}