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#! /usr/bin/env python
#* 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 the Willow Garage 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.
#***********************************************************
# Author:
PACKAGE='iri_ana_odom'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
gen.add("encoder_res", int_t, 0, "Encoder resolution in cpr", 100, 1, 10000)
gen.add("gearbox_ratio", double_t, 0, "Reduction ratio of the gearbox", 38,3, 1.0, 1000.0)
gen.add("wheel_radius", double_t, 0, "Radius of the wheel", 0.11, 0.01, 1.0)
exit(gen.generate(PACKAGE, "AnaOdomAlgorithm", "AnaOdom"))