template: template_node_parameters.cpp Source File

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00001 /***************************************************************************
00002  *   Copyright (C) 2014 by Markus Bader                                    *
00003  *   markus.bader@tuwien.ac.at                                             *
00004  *                                                                         *
00005  *   This program is free software; you can redistribute it and/or modify  *
00006  *   it under the terms of the GNU General Public License as published by  *
00007  *   the Free Software Foundation; either version 2 of the License, or     *
00008  *   (at your option) any later version.                                   *
00009  *                                                                         *
00010  *   This program is distributed in the hope that it will be useful,       *
00011  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00012  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00013  *   GNU General Public License for more details.                          *
00014  *                                                                         *
00015  *   You should have received a copy of the GNU General Public License     *
00016  *   along with this program; if not, write to the                         *
00017  *   Free Software Foundation, Inc.,                                       *
00018  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00019  ***************************************************************************/
00020 
00021 
00022 #include "template_node.h"
00023 #include "template_node_defaults.h"
00024 
00025 Scan2LineNode::ParametersNode::ParametersNode()
00026 : Parameters(), node("~") {
00027         node.param<double>("rate", rate, MX_TEMPLATE_NODE_DEFAULT_RATE);
00028     ROS_INFO("rate: %f", rate);
00029     node.param<int>("parameter_update_skip", parameter_update_skip, MX_TEMPLATE_NODE_DEFAULT_PARAMETER_UPDATE_SKIP);
00030     ROS_INFO("parameter_update_skip: %i", parameter_update_skip);
00031         node.getParam("publish", publish);
00032         ROS_INFO("publish:  %s", (publish ? "true" : "false"));
00033 
00034 }
00035 
00036 void Scan2LineNode::ParametersNode::update(const unsigned long &loop_count){
00037         if(loop_count % parameter_update_skip) return;
00038         node.getParam("debug", debug);
00039         if(loop_count == 0) ROS_INFO("debug:  %s", (debug ? "true" : "false"));
00040 
00041 }