From e73b64aa67c599d5fc45c625e92175f4af218469 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 10:57:04 +0200
Subject: [PATCH] Add one level of structure to sensor laser params
---
include/laser/sensor/sensor_laser_2D.h | 16 ++++++++--------
src/yaml/sensor_laser_2D_yaml.cpp | 24 ++++++++++++------------
test/yaml/sensor_laser_2D.yaml | 17 +++++++++--------
3 files changed, 29 insertions(+), 28 deletions(-)
diff --git a/include/laser/sensor/sensor_laser_2D.h b/include/laser/sensor/sensor_laser_2D.h
index f352cfc46..0d52eb63a 100644
--- a/include/laser/sensor/sensor_laser_2D.h
+++ b/include/laser/sensor/sensor_laser_2D.h
@@ -25,14 +25,14 @@ struct IntrinsicsLaser2D : public IntrinsicsBase
IntrinsicsLaser2D(std::string _unique_name, const wolf::ParamsServer & _server) :
IntrinsicsBase(_unique_name, _server)
{
- scan_params.angle_min_ = _server.getParam<double>(_unique_name + "/angle_min");
- scan_params.angle_max_ = _server.getParam<double>(_unique_name + "/angle_max");
- scan_params.angle_step_ = _server.getParam<double>(_unique_name + "/angle_step");
- scan_params.scan_time_ = _server.getParam<double>(_unique_name + "/scan_time");
- scan_params.range_min_ = _server.getParam<double>(_unique_name + "/range_min");
- scan_params.range_max_ = _server.getParam<double>(_unique_name + "/range_max");
- scan_params.range_std_dev_ = _server.getParam<double>(_unique_name + "/range_std_dev");
- scan_params.angle_std_dev_ = _server.getParam<double>(_unique_name + "/angle_std_dev");
+ scan_params.angle_min_ = _server.getParam<double>(_unique_name + "/LaserScanParams/angle_min");
+ scan_params.angle_max_ = _server.getParam<double>(_unique_name + "/LaserScanParams/angle_max");
+ scan_params.angle_step_ = _server.getParam<double>(_unique_name + "/LaserScanParams/angle_step");
+ scan_params.scan_time_ = _server.getParam<double>(_unique_name + "/LaserScanParams/scan_time");
+ scan_params.range_min_ = _server.getParam<double>(_unique_name + "/LaserScanParams/range_min");
+ scan_params.range_max_ = _server.getParam<double>(_unique_name + "/LaserScanParams/range_max");
+ scan_params.range_std_dev_ = _server.getParam<double>(_unique_name + "/LaserScanParams/range_std_dev");
+ scan_params.angle_std_dev_ = _server.getParam<double>(_unique_name + "/LaserScanParams/angle_std_dev");
}
std::string print()
{
diff --git a/src/yaml/sensor_laser_2D_yaml.cpp b/src/yaml/sensor_laser_2D_yaml.cpp
index 7edaac553..66aff15a5 100644
--- a/src/yaml/sensor_laser_2D_yaml.cpp
+++ b/src/yaml/sensor_laser_2D_yaml.cpp
@@ -30,23 +30,23 @@ IntrinsicsBasePtr createIntrinsicsLaser2D(const std::string& _filename_dot_yaml)
if (config["type"].as<std::string>() == "LASER 2D")
{
+ YAML::Node ls_params = config["LaserScanParams"];
+ IntrinsicsLaser2DPtr params = std::make_shared<IntrinsicsLaser2D>();
- IntrinsicsLaser2DPtr params = std::make_shared<IntrinsicsLaser2D>();
+ params->scan_params.angle_min_ = ls_params["/angle_min"] .as<double>();
+ params->scan_params.angle_max_ = ls_params["/angle_max"] .as<double>();
+ params->scan_params.angle_step_ = ls_params["/angle_step"] .as<double>();
+ params->scan_params.scan_time_ = ls_params["/scan_time"] .as<double>();
+ params->scan_params.range_min_ = ls_params["/range_min"] .as<double>();
+ params->scan_params.range_max_ = ls_params["/range_max"] .as<double>();
+ params->scan_params.range_std_dev_ = ls_params["/range_std_dev"] .as<double>();
+ params->scan_params.angle_std_dev_ = ls_params["/angle_std_dev"] .as<double>();
- params->scan_params.angle_min_ = config["/angle_min"] .as<double>();
- params->scan_params.angle_max_ = config["/angle_max"] .as<double>();
- params->scan_params.angle_step_ = config["/angle_step"] .as<double>();
- params->scan_params.scan_time_ = config["/scan_time"] .as<double>();
- params->scan_params.range_min_ = config["/range_min"] .as<double>();
- params->scan_params.range_max_ = config["/range_max"] .as<double>();
- params->scan_params.range_std_dev_ = config["/range_std_dev"] .as<double>();
- params->scan_params.angle_std_dev_ = config["/angle_std_dev"] .as<double>();
-
- return params;
+ return params;
}
- std::cout << "Bad configuration file. No processor type found." << std::endl;
+ std::cout << "Bad configuration file " << _filename_dot_yaml << ". No processor type found." << std::endl;
return nullptr;
}
diff --git a/test/yaml/sensor_laser_2D.yaml b/test/yaml/sensor_laser_2D.yaml
index 709c3fe33..0010bf5cf 100644
--- a/test/yaml/sensor_laser_2D.yaml
+++ b/test/yaml/sensor_laser_2D.yaml
@@ -4,11 +4,12 @@ type : "LASER 2D"
# no params so far
# from sensor laser 2D
-angle_min : 1
-angle_max : 2
-angle_step : 3
-scan_time : 4
-range_min : 5
-range_max : 6
-range_std_dev : 7
-angle_std_dev : 8
+LaserScanParams:
+ angle_min : 1
+ angle_max : 2
+ angle_step : 3
+ scan_time : 4
+ range_min : 5
+ range_max : 6
+ range_std_dev : 7
+ angle_std_dev : 8
--
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