tk_state: StateEstimatorControllerOptions.cpp Source File

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00001 /*
00002  * StateEstimatorControllerOptions.cpp
00003  *
00004  *  Created on: Nov 8, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #include <tk_state/StateEstimatorControllerOptions.hpp>
00009 
00010 namespace TELEKYB_NAMESPACE {
00011 
00012 StateEstimatorControllerOptions::StateEstimatorControllerOptions()
00013         : OptionContainer("StateEstimatorController")
00014 {
00015         tPublisherTopic = addOption<std::string>("tPublisherTopic",
00016                         "The Topic at which TKState's are published.", "TKState", false, true);
00017         tTransformStampedTopic = addOption<std::string>("tTransformStampedTopic",
00018                         "The Topic at which geometry_msgs::TransformStamped are published.", "UAVTransform", false, true);
00019         tPluginLookupName = addOption<std::string>("tPluginLookupName",
00020                         "Specifies the Plugin to use to generate TKState msgs", "tk_state/SSXStateEstimator", false, true);
00021 
00022         tPublishRosTransform = addOption<bool>("tPublishRosTransform",
00023                         "Specifies if a transform should be published", false, false, false);
00024 
00025         tPublishRosTransformStamped = addOption<bool>("tPublishRosTransformStamped",
00026                         "Specifies if a geometry_msgs::TransformStamped should be published", false, false, false);
00027 
00028         tTransformParentID = addOption<std::string>("tTransformParentID",
00029                         "Parent Frame ID for Transform", "world", false, true);
00030 }
00031 
00032 }