Program Listing for File sick_ldmrs_config.hpp
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* Copyright (C) 2020, Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2020, SICK AG, Waldkirch
* All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Osnabrueck University nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning 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
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Created on: 2nd Oct 2020
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
*/
#ifndef __SICK_LDMRS_CONFIG_H__
#define __SICK_LDMRS_CONFIG_H__
#include <cmath>
#include <string>
#include <sick_scan/sick_ros_wrapper.h>
namespace sick_ldmrs_driver
{
/*
* @brief Utility function to declare and get a ros parameter
*/
template<typename T> bool param(rosNodePtr node, const std::string & param_name, T& value, const T& default_value)
{
ROS_DEBUG_STREAM("ROS::param(" << param_name << "," << default_value << ")");
try
{
rosDeclareParam<T>(node, param_name, default_value);
}
catch(const std::exception& exc)
{
ROS_WARN_STREAM("## ERROR ROS::param: declare_parameter(" << param_name << "," << default_value << ") failed, exception " << exc.what());
}
try
{
bool ret = rosGetParam(node, param_name, value);
ROS_INFO_STREAM("ROS::param(" << param_name << "," << default_value << "): " << param_name << "=" << value);
return ret;
}
catch(const std::exception& exc)
{
ROS_WARN_STREAM("## ERROR ROS::param: get_parameter(" << param_name << "," << default_value << ") failed, exception " << exc.what());
}
return false;
}
/*
* @brief Configuration of SICK LDMRS driver
*/
class SickLDMRSDriverConfig
{
public:
static const double deg2rad(double angle){ return (angle * M_PI / 180.0); }
static const double tics2rad(double tics){ return (deg2rad(tics / 32.0)); }
enum scan_freq_enum // "Available scan frequencies"
{
ScanFreq1250 = 0, // "Scan frequency 12.5 Hz"
ScanFreq2500 = 1, // "Scan frequency 25.0 Hz"
ScanFreq5000 = 2 // "Scan frequency 25.0 Hz"
};
enum contour_enum // "Contour point density"
{
ClosestPointOnly = 0, // "Closest point only"
LowDensity = 1, // "Low density"
HighDensity = 2 // "High density"
};
enum angular_res_enum // "Angular resolution type"
{
FocusedRes = 0, // "Focused resolution"
ConstantRes = 1, // "Constant resolution"
FlexRes = 2 // "Flexible resolution"
};
enum range_reduction_enum // "Layer range reduction"
{
RangeFull = 0, // "All layers full range"
RangeLowerReduced = 1, // "Lower 4 layers reduced range"
RangeUpperReduced = 2, // "Upper 4 layers reduced range"
RangeAllReduced = 3 // "All 8 layers reduced range"
};
enum resolution_enum // "FlexRes angular resolution"
{
Res0125 = 4, // "Angular resolution 0.125 degrees"
Res0250 = 8, // "Angular resolution 0.25 degrees"
Res0500 = 16, // "Angular resolution 0.5 degrees"
Res1000 = 32 // "Angular resolution 1.0 degrees"
};
/*
* @brief Constructor of SICK LDMRS driver configuration.
* Initializes the configuration with default values.
*/
SickLDMRSDriverConfig(rosNodePtr nh = 0);
bool set_parameter(const std::string & name, const bool & value);
bool set_parameter(const std::string & name, const int64_t & value);
bool set_parameter(const std::string & name, const double & value);
bool set_parameter(const std::string & name, const std::string & value);
// ROS parameters
std::string frame_id; // gen.add("frame_id", str_t, 0, "The TF frame in which point clouds will be returned.", "cloud")
// Measurement parameters
double start_angle; // gen.add("start_angle", double_t, 0, "The angle of the first range measurement [rad].", 1600 * tics2rad, -1918 * tics2rad, 1600 * tics2rad) # 50 deg
double end_angle; // gen.add("end_angle", double_t, 0, "The angle of the last range measurement [rad].", -1920 * tics2rad, -1920 * tics2rad, 1598 * tics2rad) # -60 deg
int scan_frequency; // gen.add("scan_frequency", int_t, 0, "Scan frequency, 0 = 12.5Hz, 1 = 25 Hz, 2 = 50 Hz", 0, 0, 2, edit_method=scan_freq_enum)
double sync_angle_offset; // gen.add("sync_angle_offset", double_t, 0, "Angle under which the LD-MRS measures at the time of the sync pulse [rad].", 0, -5760 * tics2rad, 5759 * tics2rad) # -180...179.96 deg
int angular_resolution_type; // gen.add("angular_resolution_type", int_t, 0, "Angular resolution type: 0 = focused, 1 = constant, 2 = flexible", 1, 0, 2, edit_method=angular_res_enum)
int layer_range_reduction; // gen.add("layer_range_reduction", int_t, 0, "0: Full range, 1: lower 4 reduced, 2: upper 4 reduced, 3: all reduced", 0, 0, 3, edit_method=range_reduction_enum)
bool ignore_near_range; // gen.add("ignore_near_range", bool_t, 0, "Ignore scan points up to 15m. Requires layer_range_reduction = lower 4 reduced.", False)
bool sensitivity_control; // gen.add("sensitivity_control", bool_t, 0, "Reduce the sensitivity automatically in case of extraneous light.", False)
// FlexRes parameters
double flexres_start_angle1; // gen.add("flexres_start_angle1", double_t, 0, "FlexRes: start angle of sector 1.", 1600 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle2; // gen.add("flexres_start_angle2", double_t, 0, "FlexRes: start angle of sector 2.", 1120 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle3; // gen.add("flexres_start_angle3", double_t, 0, "FlexRes: start angle of sector 3.", 960 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle4; // gen.add("flexres_start_angle4", double_t, 0, "FlexRes: start angle of sector 4.", 640 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle5; // gen.add("flexres_start_angle5", double_t, 0, "FlexRes: start angle of sector 5.", 0 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle6; // gen.add("flexres_start_angle6", double_t, 0, "FlexRes: start angle of sector 6.", -640 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle7; // gen.add("flexres_start_angle7", double_t, 0, "FlexRes: start angle of sector 7.", -960 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
double flexres_start_angle8; // gen.add("flexres_start_angle8", double_t, 0, "FlexRes: start angle of sector 8.", -1280 * tics2rad, -1918 * tics2rad, 1600 * tics2rad)
int flexres_resolution1; // gen.add("flexres_resolution1", int_t, 0, "FlexRes: angular resolution of sector 1.", 32, 4, 32, edit_method=resolution_enum)
int flexres_resolution2; // gen.add("flexres_resolution2", int_t, 0, "FlexRes: angular resolution of sector 2.", 16, 4, 32, edit_method=resolution_enum)
int flexres_resolution3; // gen.add("flexres_resolution3", int_t, 0, "FlexRes: angular resolution of sector 3.", 8, 4, 32, edit_method=resolution_enum)
int flexres_resolution4; // gen.add("flexres_resolution4", int_t, 0, "FlexRes: angular resolution of sector 4.", 4, 4, 32, edit_method=resolution_enum)
int flexres_resolution5; // gen.add("flexres_resolution5", int_t, 0, "FlexRes: angular resolution of sector 5.", 8, 4, 32, edit_method=resolution_enum)
int flexres_resolution6; // gen.add("flexres_resolution6", int_t, 0, "FlexRes: angular resolution of sector 6.", 16, 4, 32, edit_method=resolution_enum)
int flexres_resolution7; // gen.add("flexres_resolution7", int_t, 0, "FlexRes: angular resolution of sector 7.", 32, 4, 32, edit_method=resolution_enum)
int flexres_resolution8; // gen.add("flexres_resolution8", int_t, 0, "FlexRes: angular resolution of sector 8.", 16, 4, 32, edit_method=resolution_enum)
// Object tracking parameters
int contour_point_density; // gen.add("contour_point_density", int_t, 0, "Contour point density, 0: closest point only, 1: low density, 2: high density", 2, 0, 2, edit_method=contour_enum)
int min_object_age; // gen.add("min_object_age", int_t, 0, "Minimum tracking age (number of scans) of an object to be transmitted.", 0, 0, 65535)
int max_prediction_age; // gen.add("max_prediction_age", int_t, 0, "Maximum prediction age (number of scans) of an object to be transmitted.", 0, 0, 65535)
}; // class SickLDMRSDriverConfig
} // namespace sick_ldmrs_driver
#endif // __SICK_LDMRS_CONFIG_H__