OMPLDynamicReconfigureConfig.h
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00034 
00035 //#line 2 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00036 // *********************************************************
00037 //
00038 // File autogenerated for the ompl_interface_ros package
00039 // by the dynamic_reconfigure package.
00040 // Please do not edit.
00041 //
00042 // ********************************************************/
00043 
00044 // Author: Blaise Gassend
00045 
00046 #ifndef __ompl_interface_ros__OMPLDYNAMICRECONFIGURECONFIG_H__
00047 #define __ompl_interface_ros__OMPLDYNAMICRECONFIGURECONFIG_H__
00048 
00049 #include <dynamic_reconfigure/config_tools.h>
00050 #include <moveit/macros/class_forward.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 ompl_interface_ros
00060 {
00061 class OMPLDynamicReconfigureConfigStatics;
00062 
00063 class OMPLDynamicReconfigureConfig
00064 {
00065 public:
00066   MOVEIT_CLASS_FORWARD(AbstractParamDescription);
00067   class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00068   {
00069   public:
00070     AbstractParamDescription(std::string n, std::string t, uint32_t l, 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(OMPLDynamicReconfigureConfig& config, const OMPLDynamicReconfigureConfig& max,
00080                        const OMPLDynamicReconfigureConfig& min) const = 0;
00081     virtual void calcLevel(uint32_t& level, const OMPLDynamicReconfigureConfig& config1,
00082                            const OMPLDynamicReconfigureConfig& config2) const = 0;
00083     virtual void fromServer(const ros::NodeHandle& nh, OMPLDynamicReconfigureConfig& config) const = 0;
00084     virtual void toServer(const ros::NodeHandle& nh, const OMPLDynamicReconfigureConfig& config) const = 0;
00085     virtual bool fromMessage(const dynamic_reconfigure::Config& msg, OMPLDynamicReconfigureConfig& config) const = 0;
00086     virtual void toMessage(dynamic_reconfigure::Config& msg, const OMPLDynamicReconfigureConfig& config) const = 0;
00087     virtual void getValue(const OMPLDynamicReconfigureConfig& config, boost::any& val) const = 0;
00088   };
00089 
00090   template <class T>
00091   class ParamDescription : public AbstractParamDescription
00092   {
00093   public:
00094     ParamDescription(std::string name, std::string type, uint32_t level, std::string description,
00095                      std::string edit_method, T OMPLDynamicReconfigureConfig::*f)
00096       : AbstractParamDescription(name, type, level, description, edit_method), field(f)
00097     {
00098     }
00099 
00100     T(OMPLDynamicReconfigureConfig::*field);
00101 
00102     virtual void clamp(OMPLDynamicReconfigureConfig& config, const OMPLDynamicReconfigureConfig& max,
00103                        const OMPLDynamicReconfigureConfig& 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 OMPLDynamicReconfigureConfig& config1,
00113                            const OMPLDynamicReconfigureConfig& config2) const
00114     {
00115       if (config1.*field != config2.*field)
00116         comb_level |= level;
00117     }
00118 
00119     virtual void fromServer(const ros::NodeHandle& nh, OMPLDynamicReconfigureConfig& config) const
00120     {
00121       nh.getParam(name, config.*field);
00122     }
00123 
00124     virtual void toServer(const ros::NodeHandle& nh, const OMPLDynamicReconfigureConfig& config) const
00125     {
00126       nh.setParam(name, config.*field);
00127     }
00128 
00129     virtual bool fromMessage(const dynamic_reconfigure::Config& msg, OMPLDynamicReconfigureConfig& config) const
00130     {
00131       return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00132     }
00133 
00134     virtual void toMessage(dynamic_reconfigure::Config& msg, const OMPLDynamicReconfigureConfig& config) const
00135     {
00136       dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00137     }
00138 
00139     virtual void getValue(const OMPLDynamicReconfigureConfig& config, boost::any& val) const
00140     {
00141       val = config.*field;
00142     }
00143   };
00144 
00145   MOVEIT_CLASS_FORWARD(AbstractGroupDescription);
00146   class AbstractGroupDescription : public dynamic_reconfigure::Group
00147   {
00148   public:
00149     AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
00150     {
00151       name = n;
00152       type = t;
00153       parent = p;
00154       state = s;
00155       id = i;
00156     }
00157 
00158     std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
00159     bool state;
00160 
00161     virtual void toMessage(dynamic_reconfigure::Config& msg, const boost::any& config) const = 0;
00162     virtual bool fromMessage(const dynamic_reconfigure::Config& msg, boost::any& config) const = 0;
00163     virtual void updateParams(boost::any& cfg, OMPLDynamicReconfigureConfig& top) const = 0;
00164     virtual void setInitialState(boost::any& cfg) const = 0;
00165 
00166     void convertParams()
00167     {
00168       for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin();
00169            i != abstract_parameters.end(); i++)
00170       {
00171         parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
00172       }
00173     }
00174   };
00175 
00176   template <class T, class PT>
00177   class GroupDescription : public AbstractGroupDescription
00178   {
00179   public:
00180     GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::*f)
00181       : AbstractGroupDescription(name, type, parent, id, s), field(f)
00182     {
00183     }
00184 
00185     GroupDescription(const GroupDescription<T, PT>& g)
00186       : AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
00187     {
00188       parameters = g.parameters;
00189       abstract_parameters = g.abstract_parameters;
00190     }
00191 
00192     virtual bool fromMessage(const dynamic_reconfigure::Config& msg, boost::any& cfg) const
00193     {
00194       PT* config = boost::any_cast<PT*>(cfg);
00195       if (!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
00196         return false;
00197 
00198       for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
00199       {
00200         boost::any n = &((*config).*field);
00201         if (!(*i)->fromMessage(msg, n))
00202           return false;
00203       }
00204 
00205       return true;
00206     }
00207 
00208     virtual void setInitialState(boost::any& cfg) const
00209     {
00210       PT* config = boost::any_cast<PT*>(cfg);
00211       T* group = &((*config).*field);
00212       group->state = state;
00213 
00214       for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); i++)
00215       {
00216         boost::any n = boost::any(&((*config).*field));
00217         (*i)->setInitialState(n);
00218       }
00219     }
00220 
00221     virtual void updateParams(boost::any& cfg, OMPLDynamicReconfigureConfig& 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<OMPLDynamicReconfigureConfig::AbstractGroupDescriptionConstPtr> groups;
00248   };
00249 
00250   class DEFAULT
00251   {
00252   public:
00253     DEFAULT()
00254     {
00255       state = true;
00256       name = "Default";
00257     }
00258 
00259     void setParams(OMPLDynamicReconfigureConfig& 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         if ("link_for_exploration_tree" == (*i)->name)
00267         {
00268           link_for_exploration_tree = boost::any_cast<std::string>(val);
00269         }
00270       }
00271     }
00272 
00273     std::string link_for_exploration_tree;
00274 
00275     bool state;
00276     std::string name;
00277 
00278   } groups;
00279 
00280   //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00281   std::string link_for_exploration_tree;
00282   //#line 255 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00283 
00284   bool __fromMessage__(dynamic_reconfigure::Config& msg)
00285   {
00286     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00287     const std::vector<AbstractGroupDescriptionConstPtr>& __group_descriptions__ = __getGroupDescriptions__();
00288 
00289     int count = 0;
00290     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00291          i != __param_descriptions__.end(); i++)
00292       if ((*i)->fromMessage(msg, *this))
00293         count++;
00294 
00295     for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin();
00296          i != __group_descriptions__.end(); i++)
00297     {
00298       if ((*i)->id == 0)
00299       {
00300         boost::any n = boost::any(this);
00301         (*i)->updateParams(n, *this);
00302         (*i)->fromMessage(msg, n);
00303       }
00304     }
00305 
00306     if (count != dynamic_reconfigure::ConfigTools::size(msg))
00307     {
00308       ROS_ERROR("OMPLDynamicReconfigureConfig::__fromMessage__ called with an unexpected parameter.");
00309       ROS_ERROR("Booleans:");
00310       for (unsigned int i = 0; i < msg.bools.size(); i++)
00311         ROS_ERROR("  %s", msg.bools[i].name.c_str());
00312       ROS_ERROR("Integers:");
00313       for (unsigned int i = 0; i < msg.ints.size(); i++)
00314         ROS_ERROR("  %s", msg.ints[i].name.c_str());
00315       ROS_ERROR("Doubles:");
00316       for (unsigned int i = 0; i < msg.doubles.size(); i++)
00317         ROS_ERROR("  %s", msg.doubles[i].name.c_str());
00318       ROS_ERROR("Strings:");
00319       for (unsigned int i = 0; i < msg.strs.size(); i++)
00320         ROS_ERROR("  %s", msg.strs[i].name.c_str());
00321       // @todo Check that there are no duplicates. Make this error more
00322       // explicit.
00323       return false;
00324     }
00325     return true;
00326   }
00327 
00328   // This version of __toMessage__ is used during initialization of
00329   // statics when __getParamDescriptions__ can't be called yet.
00330   void __toMessage__(dynamic_reconfigure::Config& msg,
00331                      const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__,
00332                      const std::vector<AbstractGroupDescriptionConstPtr>& __group_descriptions__) const
00333   {
00334     dynamic_reconfigure::ConfigTools::clear(msg);
00335     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00336          i != __param_descriptions__.end(); i++)
00337       (*i)->toMessage(msg, *this);
00338 
00339     for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin();
00340          i != __group_descriptions__.end(); i++)
00341     {
00342       if ((*i)->id == 0)
00343       {
00344         (*i)->toMessage(msg, *this);
00345       }
00346     }
00347   }
00348 
00349   void __toMessage__(dynamic_reconfigure::Config& msg) const
00350   {
00351     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00352     const std::vector<AbstractGroupDescriptionConstPtr>& __group_descriptions__ = __getGroupDescriptions__();
00353     __toMessage__(msg, __param_descriptions__, __group_descriptions__);
00354   }
00355 
00356   void __toServer__(const ros::NodeHandle& nh) const
00357   {
00358     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00359     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00360          i != __param_descriptions__.end(); i++)
00361       (*i)->toServer(nh, *this);
00362   }
00363 
00364   void __fromServer__(const ros::NodeHandle& nh)
00365   {
00366     static bool setup = false;
00367 
00368     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00369     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00370          i != __param_descriptions__.end(); i++)
00371       (*i)->fromServer(nh, *this);
00372 
00373     const std::vector<AbstractGroupDescriptionConstPtr>& __group_descriptions__ = __getGroupDescriptions__();
00374     for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin();
00375          i != __group_descriptions__.end(); i++)
00376     {
00377       if (!setup && (*i)->id == 0)
00378       {
00379         setup = true;
00380         boost::any n = boost::any(this);
00381         (*i)->setInitialState(n);
00382       }
00383     }
00384   }
00385 
00386   void __clamp__()
00387   {
00388     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00389     const OMPLDynamicReconfigureConfig& __max__ = __getMax__();
00390     const OMPLDynamicReconfigureConfig& __min__ = __getMin__();
00391     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00392          i != __param_descriptions__.end(); i++)
00393       (*i)->clamp(*this, __max__, __min__);
00394   }
00395 
00396   uint32_t __level__(const OMPLDynamicReconfigureConfig& config) const
00397   {
00398     const std::vector<AbstractParamDescriptionConstPtr>& __param_descriptions__ = __getParamDescriptions__();
00399     uint32_t level = 0;
00400     for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin();
00401          i != __param_descriptions__.end(); i++)
00402       (*i)->calcLevel(level, config, *this);
00403     return level;
00404   }
00405 
00406   static const dynamic_reconfigure::ConfigDescription& __getDescriptionMessage__();
00407   static const OMPLDynamicReconfigureConfig& __getDefault__();
00408   static const OMPLDynamicReconfigureConfig& __getMax__();
00409   static const OMPLDynamicReconfigureConfig& __getMin__();
00410   static const std::vector<AbstractParamDescriptionConstPtr>& __getParamDescriptions__();
00411   static const std::vector<AbstractGroupDescriptionConstPtr>& __getGroupDescriptions__();
00412 
00413 private:
00414   static const OMPLDynamicReconfigureConfigStatics* __get_statics__();
00415 };
00416 
00417 template <>  // Max and min are ignored for strings.
00418 inline void
00419 OMPLDynamicReconfigureConfig::ParamDescription<std::string>::clamp(OMPLDynamicReconfigureConfig& config,
00420                                                                    const OMPLDynamicReconfigureConfig& max,
00421                                                                    const OMPLDynamicReconfigureConfig& min) const
00422 {
00423   return;
00424 }
00425 
00426 class OMPLDynamicReconfigureConfigStatics
00427 {
00428   friend class OMPLDynamicReconfigureConfig;
00429 
00430   OMPLDynamicReconfigureConfigStatics()
00431   {
00432     OMPLDynamicReconfigureConfig::GroupDescription<OMPLDynamicReconfigureConfig::DEFAULT, OMPLDynamicReconfigureConfig>
00433         Default("Default", "", 0, 0, true, &OMPLDynamicReconfigureConfig::groups);
00434     //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00435     __min__.link_for_exploration_tree = "";
00436     //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00437     __max__.link_for_exploration_tree = "";
00438     //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00439     __default__.link_for_exploration_tree = "";
00440     //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00441     Default.abstract_parameters.push_back(OMPLDynamicReconfigureConfig::AbstractParamDescriptionConstPtr(
00442         new OMPLDynamicReconfigureConfig::ParamDescription<std::string>(
00443             "link_for_exploration_tree", "str", 1, "Show the exploration tree for a particular link", "",
00444             &OMPLDynamicReconfigureConfig::link_for_exploration_tree)));
00445     //#line 259 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00446     __param_descriptions__.push_back(OMPLDynamicReconfigureConfig::AbstractParamDescriptionConstPtr(
00447         new OMPLDynamicReconfigureConfig::ParamDescription<std::string>(
00448             "link_for_exploration_tree", "str", 1, "Show the exploration tree for a particular link", "",
00449             &OMPLDynamicReconfigureConfig::link_for_exploration_tree)));
00450     //#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00451     Default.convertParams();
00452     //#line 233 "/opt/ros/fuerte/stacks/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
00453     __group_descriptions__.push_back(OMPLDynamicReconfigureConfig::AbstractGroupDescriptionConstPtr(
00454         new OMPLDynamicReconfigureConfig::GroupDescription<OMPLDynamicReconfigureConfig::DEFAULT,
00455                                                            OMPLDynamicReconfigureConfig>(Default)));
00456     //#line 390 "/opt/ros/fuerte/stacks/dynamic_reconfigure/templates/ConfigType.h"
00457 
00458     for (std::vector<OMPLDynamicReconfigureConfig::AbstractGroupDescriptionConstPtr>::const_iterator i =
00459              __group_descriptions__.begin();
00460          i != __group_descriptions__.end(); i++)
00461     {
00462       __description_message__.groups.push_back(**i);
00463     }
00464     __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
00465     __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
00466     __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
00467   }
00468   std::vector<OMPLDynamicReconfigureConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00469   std::vector<OMPLDynamicReconfigureConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
00470   OMPLDynamicReconfigureConfig __max__;
00471   OMPLDynamicReconfigureConfig __min__;
00472   OMPLDynamicReconfigureConfig __default__;
00473   dynamic_reconfigure::ConfigDescription __description_message__;
00474 
00475   static const OMPLDynamicReconfigureConfigStatics* get_instance()
00476   {
00477     // Split this off in a separate function because I know that
00478     // instance will get initialized the first time get_instance is
00479     // called, and I am guaranteeing that get_instance gets called at
00480     // most once.
00481     static OMPLDynamicReconfigureConfigStatics instance;
00482     return &instance;
00483   }
00484 };
00485 
00486 inline const dynamic_reconfigure::ConfigDescription& OMPLDynamicReconfigureConfig::__getDescriptionMessage__()
00487 {
00488   return __get_statics__()->__description_message__;
00489 }
00490 
00491 inline const OMPLDynamicReconfigureConfig& OMPLDynamicReconfigureConfig::__getDefault__()
00492 {
00493   return __get_statics__()->__default__;
00494 }
00495 
00496 inline const OMPLDynamicReconfigureConfig& OMPLDynamicReconfigureConfig::__getMax__()
00497 {
00498   return __get_statics__()->__max__;
00499 }
00500 
00501 inline const OMPLDynamicReconfigureConfig& OMPLDynamicReconfigureConfig::__getMin__()
00502 {
00503   return __get_statics__()->__min__;
00504 }
00505 
00506 inline const std::vector<OMPLDynamicReconfigureConfig::AbstractParamDescriptionConstPtr>&
00507 OMPLDynamicReconfigureConfig::__getParamDescriptions__()
00508 {
00509   return __get_statics__()->__param_descriptions__;
00510 }
00511 
00512 inline const std::vector<OMPLDynamicReconfigureConfig::AbstractGroupDescriptionConstPtr>&
00513 OMPLDynamicReconfigureConfig::__getGroupDescriptions__()
00514 {
00515   return __get_statics__()->__group_descriptions__;
00516 }
00517 
00518 inline const OMPLDynamicReconfigureConfigStatics* OMPLDynamicReconfigureConfig::__get_statics__()
00519 {
00520   const static OMPLDynamicReconfigureConfigStatics* statics;
00521 
00522   if (statics)  // Common case
00523     return statics;
00524 
00525   boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00526 
00527   if (statics)  // In case we lost a race.
00528     return statics;
00529 
00530   statics = OMPLDynamicReconfigureConfigStatics::get_instance();
00531 
00532   return statics;
00533 }
00534 }
00535 
00536 #endif  // __OMPLDYNAMICRECONFIGURERECONFIGURATOR_H__


ompl
Author(s): Ioan Sucan
autogenerated on Fri Apr 20 2018 03:31:50