Program Listing for File fixed_lag_smoother_params.hpp
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#ifndef FUSE_OPTIMIZERS__FIXED_LAG_SMOOTHER_PARAMS_HPP_
#define FUSE_OPTIMIZERS__FIXED_LAG_SMOOTHER_PARAMS_HPP_
#include <ceres/solver.h>
#include <algorithm>
#include <string>
#include <vector>
#include <fuse_core/ceres_options.hpp>
#include <fuse_core/parameter.hpp>
#include <rclcpp/rclcpp.hpp>
namespace fuse_optimizers
{
struct FixedLagSmootherParams
{
public:
rclcpp::Duration lag_duration {5, 0};
rclcpp::Duration optimization_period {0, static_cast<uint32_t>(RCUTILS_S_TO_NS(0.1))};
std::string reset_service {"~/reset"};
rclcpp::Duration transaction_timeout {0, static_cast<uint32_t>(RCUTILS_S_TO_NS(0.1))};
ceres::Solver::Options solver_options;
void loadFromROS(
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Logging,
fuse_core::node_interfaces::Parameters
> interfaces)
{
// Read settings from the parameter server
fuse_core::getPositiveParam(interfaces, "lag_duration", lag_duration);
double optimization_frequency{-1.0};
optimization_frequency = fuse_core::getParam(
interfaces, "optimization_frequency",
optimization_frequency);
fuse_core::getPositiveParam(interfaces, "optimization_period", optimization_period);
if (optimization_frequency != -1.0) {
if (optimization_frequency < 0) {
RCLCPP_WARN_STREAM(
interfaces.get_node_logging_interface()->get_logger(),
"The requested optimization_frequency parameter is < 0. Using the optimization_period"
"parameter instead!");
}
optimization_period =
rclcpp::Duration::from_seconds(1.0 / optimization_frequency);
}
fuse_core::getParam(interfaces, "reset_service", reset_service);
fuse_core::getPositiveParam(interfaces, "transaction_timeout", transaction_timeout);
fuse_core::loadSolverOptionsFromROS(interfaces, solver_options, "solver_options");
}
};
} // namespace fuse_optimizers
#endif // FUSE_OPTIMIZERS__FIXED_LAG_SMOOTHER_PARAMS_HPP_