00001 //================================================================================================= 00002 // Copyright (c) 2013, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef OBJECT_TRACKER_PARAMETERS_H 00030 #define OBJECT_TRACKER_PARAMETERS_H 00031 00032 #include <string> 00033 #include <map> 00034 #include <std_msgs/ColorRGBA.h> 00035 #include <ros/service_client.h> 00036 00037 namespace hector_object_tracker { 00038 00039 extern std::map<std::string, bool> _project_objects; 00040 extern std::map<std::string, double> _default_distance; 00041 extern std::map<std::string, double> _distance_variance; 00042 extern std::map<std::string, double> _angle_variance; 00043 extern std::map<std::string, double> _min_height; 00044 extern std::map<std::string, double> _max_height; 00045 extern std::map<std::string, double> _pending_support; 00046 extern std::map<std::string, double> _pending_time; 00047 extern std::map<std::string, double> _active_support; 00048 extern std::map<std::string, double> _active_time; 00049 extern std::map<std::string, double> _inactive_support; 00050 extern std::map<std::string, double> _inactive_time; 00051 extern std::map<std::string, std_msgs::ColorRGBA> _marker_color; 00052 extern std::map<std::string, ros::ServiceClient> _distance_to_obstacle_service; 00053 00054 namespace Parameters { 00055 void load(const std::string& class_id = std::string()); 00056 } 00057 00058 template <typename T> static inline T& parameter(std::map<std::string, T>& p, const std::string& class_id = std::string()) { 00059 if (p.count(class_id)) return p.at(class_id); 00060 return p[std::string()]; 00061 } 00062 00063 } // namespace hector_object_tracker 00064 00065 #endif // OBJECT_TRACKER_PARAMETERS_H