From 01b78acedd150715776a480eac8eace480a5ee2d Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 1 Nov 2021 09:34:13 +0100
Subject: [PATCH] Implemented the dynamic_reconfigure function in the opendrive
global planner module.
---
include/iri_nav_module/opendrive_gp_module.h | 12 ++++++++++++
src/iri_nav_module/dyn_params.pyc | Bin 0 -> 1994 bytes
2 files changed, 12 insertions(+)
create mode 100644 src/iri_nav_module/dyn_params.pyc
diff --git a/include/iri_nav_module/opendrive_gp_module.h b/include/iri_nav_module/opendrive_gp_module.h
index bb4d4ee..844ca66 100644
--- a/include/iri_nav_module/opendrive_gp_module.h
+++ b/include/iri_nav_module/opendrive_gp_module.h
@@ -26,6 +26,11 @@ class COpendriveGPModule : public CNavPlannerModule<ModuleCfg>
*
*/
COpendriveGPModule(const std::string &name,const std::string &name_space=std::string(""));
+ /**
+ * \brief
+ *
+ */
+ void dynamic_reconfigure(ModuleCfg &config, const std::string &name);
/* parameter functions */
dyn_reconf_status_t is_multi_hypothesis(bool &enable);
dyn_reconf_status_t multy_hypothesis(bool enable);
@@ -70,6 +75,13 @@ class COpendriveGPModule : public CNavPlannerModule<ModuleCfg>
}
+ template<class ModuleCfg>
+ void COpendriveGPModule<ModuleCfg>::dynamic_reconfigure(ModuleCfg &config, const std::string &name)
+ {
+ this->get_map.dynamic_reconfigure(config,name+"_get_map");
+ this->get_nodes.dynamic_reconfigure(config,name+"_get_nodes");
+ }
+
/* parameter functions */
template<class ModuleCfg>
dyn_reconf_status_t COpendriveGPModule<ModuleCfg>::is_multi_hypothesis(bool &enable)
diff --git a/src/iri_nav_module/dyn_params.pyc b/src/iri_nav_module/dyn_params.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..8b7d672ae3eba1d6328988445794274966b0031b
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