/**
* @brief get configuration parameter
* @param [in] src : configuration parameter declaration
* @param [out] dest : configuration parameter
*/
inline
int proc_conf_get(gnd::conf::configuration *src, proc_configuration* dest) {
gnd_assert(!src, -1, "invalid null pointer");
gnd_assert(!dest, -1, "invalid null pointer");
gnd::conf::get_parameter(src, &dest->bmp_map);
gnd::conf::get_parameter(src, &dest->raw_map);
gnd::conf::get_parameter(src, &dest->sokuikiraw_name);
gnd::conf::get_parameter(src, &dest->sokuikiraw_id);
gnd::conf::get_parameter(src, &dest->sokuikifs_name);
gnd::conf::get_parameter(src, &dest->sokuikifs_id);
gnd::conf::get_parameter(src, &dest->particle_name);
gnd::conf::get_parameter(src, &dest->particle_id);
gnd::conf::get_parameter(src, &dest->odometry_name);
gnd::conf::get_parameter(src, &dest->odometry_id);
gnd::conf::get_parameter(src, &dest->eval_name);
gnd::conf::get_parameter(src, &dest->eval_id);
gnd::conf::get_parameter(src, &dest->cycle);
gnd::conf::get_parameter(src, &dest->sleeping_time);
gnd::conf::get_parameter(src, &dest->sleeping_dist);
gnd::conf::get_parameter(src, &dest->cull);
gnd::conf::get_parameter(src, &dest->blur);
gnd::conf::get_parameter(src, &dest->scan_range);
gnd::conf::get_parameter(src, &dest->matching_false);
gnd::conf::get_parameter(src, &dest->false_positive);
if( gnd::conf::get_parameter(src, &dest->sleeping_orient) >= 0 ){
// convert unit of angle(deg2rad)
dest->sleeping_orient.value = gnd_deg2rad(dest->sleeping_orient.value);
}
return 0;
}
/**
* @brief set configuration parameter declaration
* @param [out] dest : configuration parameter declaration
* @param [in] src : configuration parameter
*/
inline
int proc_conf_set(gnd::conf::configuration *dest, proc_configuration* src) {
gnd_assert(!src, -1, "invalid null pointer");
gnd_assert(!dest, -1, "invalid null pointer");
gnd::conf::set_parameter(dest, &src->bmp_map);
gnd::conf::set_parameter(dest, &src->raw_map);
gnd::conf::set_parameter(dest, &src->sokuikiraw_name);
gnd::conf::set_parameter(dest, &src->sokuikiraw_id);
gnd::conf::set_parameter(dest, &src->odometry_name);
gnd::conf::set_parameter(dest, &src->odometry_id);
gnd::conf::set_parameter(dest, &src->particle_name);
gnd::conf::set_parameter(dest, &src->particle_id);
gnd::conf::set_parameter(dest, &src->eval_name);
gnd::conf::set_parameter(dest, &src->eval_id);
gnd::conf::set_parameter(dest, &src->cycle);
gnd::conf::set_parameter(dest, &src->sleeping_time);
gnd::conf::set_parameter(dest, &src->sleeping_dist);
// convert unit of angle (rad2deg)
src->sleeping_orient.value = gnd_rad2deg(src->sleeping_orient.value);
gnd::conf::set_parameter(dest, &src->sleeping_orient);
// reconvert unit of angle (rad2deg)
src->sleeping_orient.value = gnd_deg2rad(src->sleeping_orient.value);
gnd::conf::set_parameter(dest, &src->cull);
gnd::conf::set_parameter(dest, &src->blur);
gnd::conf::set_parameter(dest, &src->scan_range);
gnd::conf::set_parameter(dest, &src->mfailure);
return 0;
}
namespace peval {
static const char proc_name[] = "opsm-particle-evaluator";
// bmp-map
static const gnd::conf::parameter_array<char, 512> ConfIni_BMPMap = {
"bmp-map",
"", // file path
"load map with bmp map directory"
};
// raw-map
static const gnd::conf::parameter_array<char, 512> ConfIni_RawMap = {
"cnt-map-dir",
"", // map file directory
"load map with counting map"
};
// sokuiki-raw-name
static const gnd::conf::parameter_array<char, 512> ConfIni_SokuikiRawName = {
"sokuiki-raw-ssm-name",
SSM_NAME_SCAN_POINT_2D, // ssm name
"sokuiki raw data ssm name"
};
// sokuiki-raw-id
static const gnd::conf::parameter<int> ConfIni_SokuikiRawID = {
"sokuiki-raw-ssm-id",
0, // id
"sokuiki raw data ssm id"
};
// sokuiki-raw-name
static const gnd::conf::parameter_array<char, 512> ConfIni_SokuikiFSName = {
"sokuiki-fs-ssm-name",
"", // ssm name
"sokuiki fs data ssm name. if sokuiki-raw-ssm-name and id are not defined, read sokuiki fs data from ssm"
};
// sokuiki-raw-id
static const gnd::conf::parameter<int> ConfIni_SokuikiFSID = {
"sokuiki-fs-ssm-id",
-1, // id
"sokuiki fs data ssm id. if sokuiki-raw-ssm-name and id are not defined, read sokuiki fs data from ssm"
};
// odometry-raw-name
static const gnd::conf::parameter_array<char, 512> ConfIni_OdometryName = {
"odometry-ssm-name",
SNAME_ODOMETRY, // map file directory
"odometry data ssm name (for sleeping mode)"
};
// odometry-raw-id
static const gnd::conf::parameter<int> ConfIni_OdometryID = {
"odometry-ssm-id",
-1, // map file directory
"odometry data ssm id (for sleeping mode)"
};
// particle-name
static const gnd::conf::parameter_array<char, 512> ConfIni_ParticleName = {
"particles-ssm-name",
SNAME_PARTICLES, // ssm name
"particles data ssm name"
};
// particle-id
static const gnd::conf::parameter<int> ConfIni_ParticleID = {
"particle-ssm-id",
0, // ssm id
"particles data ssm id"
};
// particle-name
static const gnd::conf::parameter_array<char, 512> ConfIni_ParticleEvalName = {
"particle-eval-ssm-name",
SNAME_PARTICLES_EVALUATION, // ssm name
"particles evaluation data ssm name"
};
// particle-id
static const gnd::conf::parameter<int> ConfIni_ParticleEvalID = {
"particle-eval-ssm-id",
0, // ssm id
"particles evaluation data ssm id"
};
// cycle
static const gnd::conf::parameter<double> ConfIni_Cycle = {
"cycle",
0.083333, // [s]
"evaluation cycle"
};
// rest-cycle
static const gnd::conf::parameter<double> ConfIni_SleepingTime = {
"sleep-time",
0.0, // sec
"if robot did not move, evaluation stop for this time"
};
// rest-threshold-distance
static const gnd::conf::parameter<double> ConfIni_SleepingDist = {
"sleep-threshold-distance",
0.01, // [m]
"if robot did not move more than this distance, evaluation stop"
};
// rest-threshold-orientation
static const gnd::conf::parameter<double> ConfIni_SleepingOrient = {
"sleep-threshold-orientation",
gnd_deg2rad(5), // [rad]
"if robot did not move more than this angle, evaluation stop"
};
// cull
static const gnd::conf::parameter<double> ConfIni_Cull = {
"cull",
0.1, // [m]
"input data culling parameter"
};
// blur
static const gnd::conf::parameter<double> ConfIni_Blur = {
"blur",
0.05, // [m]
};
// matching failure
static const gnd::conf::parameter<double> ConfIni_ScanRangeDist = {
"scan-range-dist",
0, // [m]
};
// matching failure
static const gnd::conf::parameter<double> ConfIni_MatchingFailureRate = {
"matching-failure-rate",
0.2,
};
// matching failure
static const gnd::conf::parameter<double> ConfIni_MatchingFalsePositive = {
"matching-false-positive",
0.05,
};
} // <--- namespace opsm
