// Read arguments ==========================================================
void ProgVolumePCA::readParams()
{
fnVols = getParam("-i");
fnVolsOut = getParam("-o");
NPCA = getIntParam("--Npca");
fnBasis = getParam("--saveBasis");
fnAvgVol = getParam("--avgVolume");
fnOutStack = getParam("--opca");
if (checkParam("--generatePCAVolumes"))
getListParam("--generatePCAVolumes",listOfPercentiles);
if (checkParam("--mask"))
mask.readParams(this);
}
bool getJointNames(const std::string joint_list_param, const std::string urdf_param,
std::vector<std::string> & joint_names)
{
joint_names.clear();
// 1) Try to read explicit list of joint names
if (ros::param::has(joint_list_param) && getListParam(joint_list_param, joint_names))
{
ROS_INFO_STREAM("Found user-specified joint names in '" << joint_list_param << "': " << vec2str(joint_names));
return true;
}
else
ROS_WARN_STREAM("Unable to find user-specified joint names in '" << joint_list_param << "'");
// 2) Try to find joint names from URDF model
urdf::Model model;
if ( ros::param::has(urdf_param)
&& model.initParam(urdf_param)
&& findChainJointNames(model.getRoot(), true, joint_names) )
{
ROS_INFO_STREAM("Using joint names from URDF: '" << urdf_param << "': " << vec2str(joint_names));
return true;
}
else
ROS_WARN_STREAM("Unable to find URDF joint names in '" << urdf_param << "'");
// 3) Use default joint-names
const int NUM_JOINTS = 6; //Most robots have 6 joints
for (int i=0; i<NUM_JOINTS; ++i)
{
std::stringstream tmp;
tmp << "joint_" << i+1;
joint_names.push_back(tmp.str());
}
ROS_INFO_STREAM("Using standard 6-DOF joint names: " << vec2str(joint_names));
return true;
}
