pick_place_params.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 #include <dynamic_reconfigure/server.h>
39 #include <moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h>
40 
41 namespace pick_place
42 {
43 namespace
44 {
45 using namespace moveit_ros_manipulation;
46 
47 class DynamicReconfigureImpl
48 {
49 public:
50  DynamicReconfigureImpl() : dynamic_reconfigure_server_(ros::NodeHandle("~/pick_place"))
51  {
52  dynamic_reconfigure_server_.setCallback(
53  boost::bind(&DynamicReconfigureImpl::dynamicReconfigureCallback, this, _1, _2));
54  }
55 
56  const PickPlaceParams& getParams() const
57  {
58  return params_;
59  }
60 
61 private:
62  PickPlaceParams params_;
63 
64  void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig& config, uint32_t level)
65  {
66  params_.max_goal_count_ = config.max_attempted_states_per_pose;
67  params_.max_fail_ = config.max_consecutive_fail_attempts;
68  params_.max_step_ = config.cartesian_motion_step_size;
69  params_.jump_factor_ = config.jump_factor;
70  }
71 
72  dynamic_reconfigure::Server<PickPlaceDynamicReconfigureConfig> dynamic_reconfigure_server_;
73 };
74 }
75 }
76 
77 pick_place::PickPlaceParams::PickPlaceParams() : max_goal_count_(5), max_fail_(3), max_step_(0.02), jump_factor_(2.0)
78 {
79 }
80 
82 {
83  static DynamicReconfigureImpl PICK_PLACE_PARAMS;
84  return PICK_PLACE_PARAMS.getParams();
85 }
const PickPlaceParams & GetGlobalPickPlaceParams()
dynamic_reconfigure::Server< PickPlaceDynamicReconfigureConfig > dynamic_reconfigure_server_
PickPlaceParams params_


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Apr 21 2018 02:55:48