Path::Path() {
ros::NodeHandle nh;
XmlRpc::XmlRpcValue pathCfg;
nh.getParam("/path", pathCfg);
try {
int i = 0;
do {
char pointName[256];
sprintf(pointName, "point%d", i);
if (!pathCfg.hasMember(pointName))
break;
XmlRpc::XmlRpcValue pointCfg = pathCfg[std::string(pointName)];
geometry_msgs::Point p;
if (!(pointCfg.hasMember("x") && pointCfg.hasMember("y")))
continue;
p.x = FLOAT_PARAM(pointCfg["x"]);
p.y = FLOAT_PARAM(pointCfg["y"]);
p.z = 0;
points.push_back(p);
} while ((++i) != 0);
} catch (XmlRpc::XmlRpcException& e) {
ROS_ERROR("Unable to parse path parameter. (%s)", e.getMessage().c_str());
}
}
void SetupParams(int argc, char **argv) {
char fname[STRLEN];
init_params(argc, argv);
// PARAMETER DEFINITIONS GO HERE
STRING_PARAM(FileBase);
INT_PARAM(ElecNo);
INT_PARAM(MinClusters);
INT_PARAM(MaxClusters);
INT_PARAM(MaxPossibleClusters);
INT_PARAM(nStarts);
INT_PARAM(RandomSeed);
BOOLEAN_PARAM(Debug);
INT_PARAM(Verbose);
STRING_PARAM(UseFeatures);
INT_PARAM(DistDump);
FLOAT_PARAM(DistThresh);
INT_PARAM(FullStepEvery);
FLOAT_PARAM(ChangedThresh);
BOOLEAN_PARAM(Log);
BOOLEAN_PARAM(Screen);
INT_PARAM(MaxIter);
STRING_PARAM(StartCluFile);
INT_PARAM(SplitEvery);
FLOAT_PARAM(PenaltyMix);
INT_PARAM(Subset);
if (argc<3) {
fprintf(stderr, "Usage: KlustaKwik FileBase ElecNo [Arguments]\n\n");
fprintf(stderr, "Default Parameters: \n");
print_params(stderr);
exit(1);
}
strcpy(FileBase, argv[1]);
ElecNo = atoi(argv[2]);
if (Screen) print_params(stdout);
// open log file, if required
if (Log) {
sprintf(fname, "%s.klg.%d", FileBase, ElecNo);
logfp = fopen_safe(fname, "w");
print_params(logfp);
}
}
