GraftParameterManager.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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/*
 * Author: Chad Rockey
 */
 
#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H
#define GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H
 
#include <ros/ros.h>
#include <graft/GraftSensor.h>
 
#include <graft/GraftOdometryTopic.h>
#include <graft/GraftImuTopic.h>
 
class GraftParameterManager
{
public:
  GraftParameterManager(ros::NodeHandle n, ros::NodeHandle pnh);
 
  ~GraftParameterManager();
 
  void loadParameters(std::vector<boost::shared_ptr<GraftSensor> >& topics, std::vector<ros::Subscriber>& subs);
 
  void parseNavMsgsOdometryParameters(ros::NodeHandle& tnh, boost::shared_ptr<GraftOdometryTopic>& odom);
 
  void parseSensorMsgsIMUParameters(ros::NodeHandle& tnh, boost::shared_ptr<GraftImuTopic>& imu);
 
  std::string getFilterType();
 
  bool getPlanarOutput();
 
  std::string getParentFrameID();
 
  std::string getChildFrameID();
 
  double getUpdateRate();
 
  std::string getUpdateTopic();
 
  double getdtOveride();
 
  int getQueueSize();
 
  bool getIncludePose();
 
  bool getPublishTF();
 
  std::vector<double> getInitialCovariance();
 
  std::vector<double> getProcessNoise();
 
  double getAlpha();
 
  double getKappa();
 
  double getBeta();
 
private:
 
  ros::NodeHandle n_;
  ros::NodeHandle pnh_;
 
  std::string filter_type_;  // EKF or UKF
  bool planar_output_;  // Output in 2D instead of 3D
  std::string parent_frame_id_;
  std::string child_frame_id_;
  double update_rate_;  // How often to update
  std::string update_topic_;  // Update when this topic arrives
  double dt_override_;  // Overrides the dt between updates, ignored if 0
  int queue_size_;
  bool publish_tf_;
  std::vector<double> initial_covariance_;
  std::vector<double> process_noise_;
  double alpha_;
  double kappa_;
  double beta_;
 
  // Derived parameters for filter behavior
  bool include_pose_;
};
 
#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_PARAMETER_MANAGER_H