pick_place_params.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/pick_place/pick_place_params.h>
00038 #include <dynamic_reconfigure/server.h>
00039 #include <moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h>
00040 
00041 namespace pick_place
00042 {
00043 
00044 namespace
00045 {
00046 using namespace moveit_ros_manipulation;
00047 
00048 class DynamicReconfigureImpl
00049 {
00050 public:
00051 
00052   DynamicReconfigureImpl() : dynamic_reconfigure_server_(ros::NodeHandle("~/pick_place"))
00053   {
00054     dynamic_reconfigure_server_.setCallback(boost::bind(&DynamicReconfigureImpl::dynamicReconfigureCallback, this, _1, _2));
00055   }
00056 
00057   const PickPlaceParams& getParams() const
00058   {
00059     return params_;
00060   }
00061   
00062 private:
00063   PickPlaceParams params_;
00064   
00065   void dynamicReconfigureCallback(PickPlaceDynamicReconfigureConfig &config, uint32_t level)
00066   {
00067     params_.max_goal_count_ = config.max_attempted_states_per_pose;
00068     params_.max_fail_ = config.max_consecutive_fail_attempts;
00069     params_.max_step_ = config.cartesian_motion_step_size;
00070     params_.jump_factor_ = config.jump_factor;
00071   }
00072 
00073   dynamic_reconfigure::Server<PickPlaceDynamicReconfigureConfig> dynamic_reconfigure_server_;
00074 };
00075 
00076 }
00077 }
00078 
00079 pick_place::PickPlaceParams::PickPlaceParams() : max_goal_count_(5),
00080                                                  max_fail_(3),
00081                                                  max_step_(0.02),
00082                                                  jump_factor_(2.0)
00083 {
00084 }
00085 
00086 const pick_place::PickPlaceParams& pick_place::GetGlobalPickPlaceParams() {
00087   static DynamicReconfigureImpl PICK_PLACE_PARAMS;
00088   return PICK_PLACE_PARAMS.getParams();
00089 }


manipulation
Author(s): Ioan Sucan , Sachin Chitta , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:44:04