rawlog_play_node_parameters.cpp

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at> *
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#include "rawlog_play_node.h"
#include "rawlog_play_node_defaults.h"

RawlogPlayNode::ParametersNode::ParametersNode() : Parameters(), node("~")
{
        node.param<double>("rate", rate, RAWLOG_PLAY_NODE_DEFAULT_RATE);
        ROS_INFO("rate: %f", rate);
        node.param<int>(
                "parameter_update_skip", parameter_update_skip,
                RAWLOG_PLAY_NODE_DEFAULT_PARAMETER_UPDATE_SKIP);
        ROS_INFO("parameter_update_skip: %i", parameter_update_skip);
        node.getParam("rawlog_file", rawlog_file);
        ROS_INFO("rawlog_file: %s", rawlog_file.c_str());
        node.param<std::string>("odom_frame", odom_frame, "odom");
        ROS_INFO("odom_frame: %s", odom_frame.c_str());
        node.param<std::string>("base_frame", base_frame, "base_link");
        ROS_INFO("base_frame: %s", base_frame.c_str());
        reconfigureFnc_ = boost::bind(
                &RawlogPlayNode::ParametersNode::callbackParameters, this, _1, _2);
        reconfigureServer_.setCallback(reconfigureFnc_);
}

void RawlogPlayNode::ParametersNode::update(const unsigned long& loop_count)
{
        if (loop_count % parameter_update_skip) return;
        node.getParam("debug", debug);
        if (loop_count == 0) ROS_INFO("debug:  %s", (debug ? "true" : "false"));
}

void RawlogPlayNode::ParametersNode::callbackParameters(
        mrpt_rawlog::RawLogRecordConfig& config, uint32_t level)
{
        using mrpt::obs::CActionRobotMovement2D;

        if (config.motion_noise_type == MOTION_MODEL_GAUSSIAN)
        {
                auto& m = motionModelOptions;

                m.modelSelection = CActionRobotMovement2D::mmGaussian;
                m.gaussianModel.a1 = config.motion_gaussian_alpha_1;
                m.gaussianModel.a2 = config.motion_gaussian_alpha_2;
                m.gaussianModel.a3 = config.motion_gaussian_alpha_3;
                m.gaussianModel.a4 = config.motion_gaussian_alpha_4;
                m.gaussianModel.minStdXY = config.motion_gaussian_alpha_xy;
                m.gaussianModel.minStdPHI = config.motion_gaussian_alpha_phi;

                ROS_INFO("gaussianModel.a1: %f", m.gaussianModel.a1);
                ROS_INFO("gaussianModel.a2: %f", m.gaussianModel.a2);
                ROS_INFO("gaussianModel.a3: %f", m.gaussianModel.a3);
                ROS_INFO("gaussianModel.a4: %f", m.gaussianModel.a4);
                ROS_INFO("gaussianModel.minStdXY: %f", m.gaussianModel.minStdXY);
                ROS_INFO("gaussianModel.minStdPHI: %f", m.gaussianModel.minStdPHI);
        }
}