GraftParameterManager.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
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  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H
00035 #define GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H
00036 
00037 #include <ros/ros.h>
00038 #include <graft/GraftSensor.h>
00039 
00040 #include <graft/GraftOdometryTopic.h>
00041 #include <graft/GraftImuTopic.h>
00042 
00043 class GraftParameterManager
00044 {
00045 public:
00046   GraftParameterManager(ros::NodeHandle n, ros::NodeHandle pnh);
00047 
00048   ~GraftParameterManager();
00049 
00050   void loadParameters(std::vector<boost::shared_ptr<GraftSensor> >& topics, std::vector<ros::Subscriber>& subs);
00051 
00052   void parseNavMsgsOdometryParameters(ros::NodeHandle& tnh, boost::shared_ptr<GraftOdometryTopic>& odom);
00053 
00054   void parseSensorMsgsIMUParameters(ros::NodeHandle& tnh, boost::shared_ptr<GraftImuTopic>& imu);
00055 
00056   std::string getFilterType();
00057 
00058   bool getPlanarOutput();
00059 
00060   std::string getParentFrameID();
00061 
00062   std::string getChildFrameID();
00063 
00064   double getUpdateRate();
00065 
00066   std::string getUpdateTopic();
00067 
00068   double getdtOveride();
00069 
00070   int getQueueSize();
00071 
00072   bool getIncludePose();
00073 
00074   bool getPublishTF();
00075 
00076   std::vector<double> getInitialCovariance();
00077 
00078   std::vector<double> getProcessNoise();
00079 
00080   double getAlpha();
00081 
00082   double getKappa();
00083 
00084   double getBeta();
00085 
00086 private:
00087 
00088   ros::NodeHandle n_;
00089   ros::NodeHandle pnh_;
00090 
00091   std::string filter_type_;  // EKF or UKF
00092   bool planar_output_;  // Output in 2D instead of 3D
00093   std::string parent_frame_id_;
00094   std::string child_frame_id_;
00095   double update_rate_;  // How often to update
00096   std::string update_topic_;  // Update when this topic arrives
00097   double dt_override_;  // Overrides the dt between updates, ignored if 0
00098   int queue_size_;
00099   bool publish_tf_;
00100   std::vector<double> initial_covariance_;
00101   std::vector<double> process_noise_;
00102   double alpha_;
00103   double kappa_;
00104   double beta_;
00105 
00106   // Derived parameters for filter behavior
00107   bool include_pose_;
00108 };
00109 
00110 #endif  // GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H


graft
Author(s): Chad Rockey
autogenerated on Thu Feb 11 2016 22:58:40