From 5dd7bf5024071bbc08b644817ccdb341a410cec8 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Mon, 1 Apr 2019 12:18:55 +0200
Subject: [PATCH] Added no-default (with error) option for params server
---
include/base/params_server.hpp | 8 ++++++++
.../processor_frame_nearest_neighbor_filter.h | 8 ++++----
.../base/processor/processor_params_image.h | 20 +++++++++----------
.../processor_tracker_feature_trifocal.h | 14 ++++++-------
include/base/sensor/sensor_GPS_fix.h | 2 +-
include/base/sensor/sensor_camera.h | 10 +++++-----
include/base/sensor/sensor_diff_drive.h | 12 +++++------
include/base/sensor/sensor_odom_2D.h | 4 ++--
include/base/sensor/sensor_odom_3D.h | 10 +++++-----
test/gtest_param_server.cpp | 3 +++
10 files changed, 51 insertions(+), 40 deletions(-)
diff --git a/include/base/params_server.hpp b/include/base/params_server.hpp
index b7fe91f30..55f268d78 100644
--- a/include/base/params_server.hpp
+++ b/include/base/params_server.hpp
@@ -65,6 +65,14 @@ public:
return converter<T>::convert(def_value);
}
}
+ template<typename T>
+ T getParam(std::string key) const {
+ if(_params.find(key) != _params.end()){
+ return converter<T>::convert(_params.find(key)->second);
+ }else{
+ throw std::runtime_error("The following key: '" + key + "' has not been found in the parameters server and no default value was provided.");
+ }
+ }
std::vector<ParamsInitSensor> getSensors(){
std::vector<ParamsInitSensor> rtn = std::vector<ParamsInitSensor>();
std::transform(this->_paramsSens.begin(), this->_paramsSens.end(), back_inserter(rtn), [](const std::pair<std::string,ParamsInitSensor> v){return v.second;});
diff --git a/include/base/processor/processor_frame_nearest_neighbor_filter.h b/include/base/processor/processor_frame_nearest_neighbor_filter.h
index 3f28b915d..9a66768a9 100644
--- a/include/base/processor/processor_frame_nearest_neighbor_filter.h
+++ b/include/base/processor/processor_frame_nearest_neighbor_filter.h
@@ -42,16 +42,16 @@ struct ProcessorParamsFrameNearestNeighborFilter : public ProcessorParamsLoopClo
ProcessorParamsFrameNearestNeighborFilter(std::string _unique_name, const paramsServer& _server):
ProcessorParamsLoopClosure(_unique_name, _server)
{
- buffer_size_ = _server.getParam<int>(_unique_name + "/buffer_size", "");
- sample_step_degree_ = _server.getParam<int>(_unique_name + "/sample_step_degree", "");
- auto distance_type_str = _server.getParam<std::string>(_unique_name + "/distance_type", "");
+ buffer_size_ = _server.getParam<int>(_unique_name + "/buffer_size");
+ sample_step_degree_ = _server.getParam<int>(_unique_name + "/sample_step_degree");
+ auto distance_type_str = _server.getParam<std::string>(_unique_name + "/distance_type");
if(distance_type_str.compare("LC_POINT_ELLIPSE")) distance_type_ = LoopclosureDistanceType::LC_POINT_ELLIPSE;
else if(distance_type_str.compare("LC_ELLIPSE_ELLIPSE")) distance_type_ = LoopclosureDistanceType::LC_ELLIPSE_ELLIPSE;
else if(distance_type_str.compare("LC_POINT_ELLIPSOID")) distance_type_ = LoopclosureDistanceType::LC_POINT_ELLIPSOID;
else if(distance_type_str.compare("LC_ELLIPSOID_ELLIPSOID")) distance_type_ = LoopclosureDistanceType::LC_ELLIPSOID_ELLIPSOID;
else if(distance_type_str.compare("LC_MAHALANOBIS_DISTANCE")) distance_type_ = LoopclosureDistanceType::LC_MAHALANOBIS_DISTANCE;
else throw std::runtime_error("Failed to fetch a valid value for the enumerate LoopclosureDistanceType. Value provided: " + distance_type_str);
- probability_ = _server.getParam<Scalar>(_unique_name + "/probability", "");
+ probability_ = _server.getParam<Scalar>(_unique_name + "/probability");
}
virtual ~ProcessorParamsFrameNearestNeighborFilter() = default;
diff --git a/include/base/processor/processor_params_image.h b/include/base/processor/processor_params_image.h
index 5d200dd08..33e92c38e 100644
--- a/include/base/processor/processor_params_image.h
+++ b/include/base/processor/processor_params_image.h
@@ -24,11 +24,11 @@ struct ProcessorParamsTrackerFeatureImage : public ProcessorParamsTrackerFeature
ProcessorParamsTrackerFeatureImage(std::string _unique_name, const paramsServer& _server):
ProcessorParamsTrackerFeature(_unique_name, _server)
{
- yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils", "");
- min_response_for_new_features = _server.getParam<Scalar>(_unique_name + "/min_response_for_new_features", "");
- distance = _server.getParam<Scalar>(_unique_name + "/distance", "");
- pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std", "");
- pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var", "");
+ yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils");
+ min_response_for_new_features = _server.getParam<Scalar>(_unique_name + "/min_response_for_new_features");
+ distance = _server.getParam<Scalar>(_unique_name + "/distance");
+ pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std");
+ pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var");
}
};
@@ -46,13 +46,13 @@ struct ProcessorParamsTrackerLandmarkImage : public ProcessorParamsTrackerLandma
ProcessorParamsTrackerLandmarkImage(std::string _unique_name, const paramsServer& _server):
ProcessorParamsTrackerLandmark(_unique_name, _server)
{
- yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils", "");
+ yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils");
- min_response_for_new_features = _server.getParam<Scalar>(_unique_name + "/min_response_for_new_features", "");
- distance = _server.getParam<Scalar>(_unique_name + "/distance", "");
+ min_response_for_new_features = _server.getParam<Scalar>(_unique_name + "/min_response_for_new_features");
+ distance = _server.getParam<Scalar>(_unique_name + "/distance");
- pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std", "");
- pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var", "");
+ pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std");
+ pixel_noise_var = _server.getParam<Scalar>(_unique_name + "/pixel_noise_var");
}
};
}
diff --git a/include/base/processor/processor_tracker_feature_trifocal.h b/include/base/processor/processor_tracker_feature_trifocal.h
index 1033e3347..fa3984253 100644
--- a/include/base/processor/processor_tracker_feature_trifocal.h
+++ b/include/base/processor/processor_tracker_feature_trifocal.h
@@ -32,13 +32,13 @@ struct ProcessorParamsTrackerFeatureTrifocal : public ProcessorParamsTrackerFeat
ProcessorParamsTrackerFeatureTrifocal(std::string _unique_name, const paramsServer& _server):
ProcessorParamsTrackerFeature(_unique_name, _server)
{
- yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils", "");
- n_cells_h = _server.getParam<int>(_unique_name + "/n_cells_h", "");
- n_cells_v = _server.getParam<int>(_unique_name + "/n_cells_v", "");
- min_response_new_feature = _server.getParam<int>(_unique_name + "/min_response_new_feature", "");
- max_euclidean_distance = _server.getParam<Scalar>(_unique_name + "/max_euclidean_distance", "");
- pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std", "");
- min_track_length_for_factor = _server.getParam<int>(_unique_name + "/min_track_length_for_factor", "");
+ yaml_file_params_vision_utils = _server.getParam<std::string>(_unique_name + "/yaml_file_params_vision_utils");
+ n_cells_h = _server.getParam<int>(_unique_name + "/n_cells_h");
+ n_cells_v = _server.getParam<int>(_unique_name + "/n_cells_v");
+ min_response_new_feature = _server.getParam<int>(_unique_name + "/min_response_new_feature");
+ max_euclidean_distance = _server.getParam<Scalar>(_unique_name + "/max_euclidean_distance");
+ pixel_noise_std = _server.getParam<Scalar>(_unique_name + "/pixel_noise_std");
+ min_track_length_for_factor = _server.getParam<int>(_unique_name + "/min_track_length_for_factor");
}
};
diff --git a/include/base/sensor/sensor_GPS_fix.h b/include/base/sensor/sensor_GPS_fix.h
index e1f443f8a..dd2e85700 100644
--- a/include/base/sensor/sensor_GPS_fix.h
+++ b/include/base/sensor/sensor_GPS_fix.h
@@ -18,7 +18,7 @@ struct IntrinsicsGPSFix : public IntrinsicsBase
IntrinsicsGPSFix(std::string _unique_name, const paramsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- noise_std = _server.getParam<Eigen::Vector3s>(_unique_name + "/noise_std", "");
+ noise_std = _server.getParam<Eigen::Vector3s>(_unique_name + "/noise_std");
}
virtual ~IntrinsicsGPSFix() = default;
};
diff --git a/include/base/sensor/sensor_camera.h b/include/base/sensor/sensor_camera.h
index 8d2cd2e82..44bd1dd0b 100644
--- a/include/base/sensor/sensor_camera.h
+++ b/include/base/sensor/sensor_camera.h
@@ -25,11 +25,11 @@ struct IntrinsicsCamera : public IntrinsicsBase
IntrinsicsCamera(std::string _unique_name, const paramsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- width = _server.getParam<unsigned int>(_unique_name + "/width", "");
- height = _server.getParam<unsigned int>(_unique_name + "/height", "");
- pinhole_model_raw = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_raw", "");
- pinhole_model_rectified = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_rectified", "");
- distortion = _server.getParam<Eigen::VectorXs>(_unique_name + "/distortion", "");
+ width = _server.getParam<unsigned int>(_unique_name + "/width");
+ height = _server.getParam<unsigned int>(_unique_name + "/height");
+ pinhole_model_raw = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_raw");
+ pinhole_model_rectified = _server.getParam<Eigen::Vector4s>(_unique_name + "/pinhole_model_rectified");
+ distortion = _server.getParam<Eigen::VectorXs>(_unique_name + "/distortion");
}
virtual ~IntrinsicsCamera() = default;
};
diff --git a/include/base/sensor/sensor_diff_drive.h b/include/base/sensor/sensor_diff_drive.h
index b601875b9..2f8a13f0e 100644
--- a/include/base/sensor/sensor_diff_drive.h
+++ b/include/base/sensor/sensor_diff_drive.h
@@ -42,11 +42,11 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
IntrinsicsBase(_unique_name, _server)
{
- left_radius_ = _server.getParam<Scalar>(_unique_name + "/left_radius_", "");
- right_radius_ = _server.getParam<Scalar>(_unique_name + "/right_radius_", "");
- separation_ = _server.getParam<Scalar>(_unique_name + "/separation_", "");
+ left_radius_ = _server.getParam<Scalar>(_unique_name + "/left_radius_");
+ right_radius_ = _server.getParam<Scalar>(_unique_name + "/right_radius_");
+ separation_ = _server.getParam<Scalar>(_unique_name + "/separation_");
- auto model_str = _server.getParam<std::string>(_unique_name + "/model", "");
+ auto model_str = _server.getParam<std::string>(_unique_name + "/model");
if(model_str.compare("Two_Factor_Model")) model_ = DiffDriveModel::Two_Factor_Model;
else if(model_str.compare("Three_Factor_Model")) model_ = DiffDriveModel::Three_Factor_Model;
else if(model_str.compare("Five_Factor_Model")) model_ = DiffDriveModel::Five_Factor_Model;
@@ -54,8 +54,8 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
factors_ = _server.getParam<Eigen::VectorXs>(_unique_name + "/factors", "[1,1,1]");
- left_resolution_ = _server.getParam<Scalar>(_unique_name + "/left_resolution_", "");
- right_resolution_ = _server.getParam<Scalar>(_unique_name + "/right_resolution_", "");
+ left_resolution_ = _server.getParam<Scalar>(_unique_name + "/left_resolution_");
+ right_resolution_ = _server.getParam<Scalar>(_unique_name + "/right_resolution_");
left_gain_ = _server.getParam<Scalar>(_unique_name + "/left_gain", "0.01");
right_gain_ = _server.getParam<Scalar>(_unique_name + "/right_gain", "0.01");
diff --git a/include/base/sensor/sensor_odom_2D.h b/include/base/sensor/sensor_odom_2D.h
index 1d71d926d..934ef2615 100644
--- a/include/base/sensor/sensor_odom_2D.h
+++ b/include/base/sensor/sensor_odom_2D.h
@@ -22,8 +22,8 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
IntrinsicsOdom2D(std::string _unique_name, const paramsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp", "");
- k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot", "");
+ k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
+ k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
}
};
diff --git a/include/base/sensor/sensor_odom_3D.h b/include/base/sensor/sensor_odom_3D.h
index 3f3c6c434..c1128098e 100644
--- a/include/base/sensor/sensor_odom_3D.h
+++ b/include/base/sensor/sensor_odom_3D.h
@@ -30,11 +30,11 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
IntrinsicsOdom3D(std::string _unique_name, const paramsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp", "");
- k_disp_to_rot = _server.getParam<Scalar>(_unique_name + "/k_disp_to_rot", "");
- k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot", "");
- min_disp_var = _server.getParam<Scalar>(_unique_name + "/min_disp_var", "");
- min_rot_var = _server.getParam<Scalar>(_unique_name + "/min_rot_var", "");
+ k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
+ k_disp_to_rot = _server.getParam<Scalar>(_unique_name + "/k_disp_to_rot");
+ k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
+ min_disp_var = _server.getParam<Scalar>(_unique_name + "/min_disp_var");
+ min_rot_var = _server.getParam<Scalar>(_unique_name + "/min_rot_var");
}
virtual ~IntrinsicsOdom3D() = default;
};
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index 9dc28c7e4..a17791973 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -24,6 +24,9 @@ TEST(ParamsServer, Default)
EXPECT_EQ(server.getParam<double>("should_not_exist", "2.6"), 2.6);
EXPECT_EQ(server.getParam<bool>("my_proc_test/voting_active", "true"), false);
EXPECT_NE(server.getParam<unsigned int>("my_proc_test/time_tolerance", "23"), 23);
+ EXPECT_THROW({ server.getParam<unsigned int>("test error"); }, std::runtime_error);
+ EXPECT_NE(server.getParam<unsigned int>("my_proc_test/time_tolerance"), 23);
+ EXPECT_EQ(server.getParam<bool>("my_proc_test/voting_active"), false);
}
int main(int argc, char **argv)
{
--
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