2015-05-27 17:41:33 +00:00
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#!/usr/bin/env python
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2015-09-16 17:19:00 +00:00
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# -*- encoding: utf-8 -*-
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2015-09-18 14:52:52 +00:00
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# Copyright © 2015 CentraleSupélec
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#
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# This file is part of Hand Control.
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#
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# Hand Control is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# Hand Control is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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2015-05-27 14:09:19 +00:00
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PACKAGE = "hand_control"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
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2015-05-28 19:53:07 +00:00
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gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
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2015-06-03 17:19:15 +00:00
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gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
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2015-05-27 14:09:19 +00:00
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gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
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2015-06-03 17:19:15 +00:00
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gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
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gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
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2015-05-27 14:09:19 +00:00
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gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
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2015-05-28 19:53:07 +00:00
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gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
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gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
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2015-06-03 17:19:15 +00:00
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gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
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gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
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gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
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2015-06-09 15:00:45 +00:00
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gen.add("no_diag", bool_t, 0, "Drone cannot translate on a diagonal direction", True)
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2015-05-27 20:27:57 +00:00
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exit(gen.generate(PACKAGE, "hand_control", "Commander"))
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