From d1005dea3caa21cee6bfdd480906cd5ba9b041e2 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 15 Dec 2022 18:55:34 +0100
Subject: [PATCH] Added set and get yaw goal tolerances functions
---
include/iri_nav_module/teb_lp_module.h | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
diff --git a/include/iri_nav_module/teb_lp_module.h b/include/iri_nav_module/teb_lp_module.h
index 21a0744..c0b35c2 100644
--- a/include/iri_nav_module/teb_lp_module.h
+++ b/include/iri_nav_module/teb_lp_module.h
@@ -204,6 +204,22 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
return DYN_RECONF_NO_SUCH_PARAM;
}
+ template <class ModuleCfg>
+ dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_yaw_goal_tolerance(double &value)
+ {
+ this->planner_reconf.set_parameter("yaw_goal_tolerance",value);
+ return this->planner_reconf.get_status();
+ }
+
+ template <class ModuleCfg>
+ dyn_reconf_status_t CTEBLPModule<ModuleCfg>::get_yaw_goal_tolerance(double &value)
+ {
+ if(this->planner_reconf.get_parameter("yaw_goal_tolerance",value))
+ return DYN_RECONF_SUCCESSFULL;
+ else
+ return DYN_RECONF_NO_SUCH_PARAM;
+ }
+
template <class ModuleCfg>
dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_goal_tolerances(double &xy_tol, double &yaw_tol)
{
--
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