Ajout du contrôle des seuils
This commit is contained in:
Hugo LEVY-FALK
parent
2a68e68546
commit
eeb352a2a4
65 changed files with 2184 additions and 526 deletions
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@ -2,8 +2,14 @@ detect_targets
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/__init__.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/__init__.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/msg/__init__.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/msg/__init__.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/cfg/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/cfg/__init__.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/cfg/DetectTargetsConfig.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/detect_targets/cfg/DetectTargetsConfig.py
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/pkgconfig/detect_targets.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/detect_targets.pc
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/pkgconfig/detect_targets.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/detect_targets.pc
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/include/detect_targets/DetectTargetsConfig.h
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_centers.h /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/include/detect_targets/component_centers.h
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_centers.h /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/include/detect_targets/component_centers.h
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig-usage.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/docs/DetectTargetsConfig-usage.dox
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig.wikidoc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/docs/DetectTargetsConfig.wikidoc
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/docs/DetectTargetsConfig.dox
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targets-msg-extras.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targets-msg-extras.cmake
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targets-msg-extras.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targets-msg-extras.cmake
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targets-msg-paths.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targets-msg-paths.cmake
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targets-msg-paths.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targets-msg-paths.cmake
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targetsConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targetsConfig.cmake
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/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targetsConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/detect_targets/cmake/detect_targetsConfig.cmake
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@ -284,6 +284,9 @@ detect_targets_BINARY_DIR:STATIC=/home/klafyvel/Documents/supelec/2A/projet/work
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//Value Computed by CMake
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//Value Computed by CMake
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detect_targets_SOURCE_DIR:STATIC=/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets
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detect_targets_SOURCE_DIR:STATIC=/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets
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//The directory containing a CMake configuration file for dynamic_reconfigure.
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dynamic_reconfigure_DIR:PATH=/opt/ros/melodic/share/dynamic_reconfigure/cmake
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//The directory containing a CMake configuration file for gencpp.
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//The directory containing a CMake configuration file for gencpp.
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gencpp_DIR:PATH=/opt/ros/melodic/share/gencpp/cmake
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gencpp_DIR:PATH=/opt/ros/melodic/share/gencpp/cmake
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@ -358,7 +361,7 @@ gtest_hide_internal_symbols:BOOL=OFF
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gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
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gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest;
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//Path to a library.
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//Path to a library.
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lib:FILEPATH=/opt/ros/melodic/lib/libxmlrpcpp.so
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lib:FILEPATH=/opt/ros/melodic/lib/libdynamic_reconfigure_config_init_mutex.so
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//The directory containing a CMake configuration file for message_generation.
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//The directory containing a CMake configuration file for message_generation.
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message_generation_DIR:PATH=/opt/ros/melodic/share/message_generation/cmake
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message_generation_DIR:PATH=/opt/ros/melodic/share/message_generation/cmake
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@ -1,4 +1,5 @@
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# Hashes of file build rules.
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# Hashes of file build rules.
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ecac21b7b0d7cee7376a1a6d82fc960c /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h
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e27df913c1d51ae7d6aa7edd9d8dd89b /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_centers.h
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e27df913c1d51ae7d6aa7edd9d8dd89b /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_centers.h
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23b82ec56f57129013fa6df25d26a60a /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py
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23b82ec56f57129013fa6df25d26a60a /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py
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a2c1b9712575445ff89604f25f47af8f /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
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a2c1b9712575445ff89604f25f47af8f /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
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@ -8,6 +9,7 @@ cc00df76fb6006a69103f8541cc840d0 /home/klafyvel/Documents/supelec/2A/projet/work
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08494b8fd60e0d1aa059e19452ff2b19 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_centers.l
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08494b8fd60e0d1aa059e19452ff2b19 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_centers.l
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@ -75,6 +75,12 @@ set(CMAKE_MAKEFILE_DEPENDS
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"/opt/ros/melodic/share/cpp_common/cmake/cpp_commonConfig-version.cmake"
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"/opt/ros/melodic/share/cpp_common/cmake/cpp_commonConfig-version.cmake"
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"/opt/ros/melodic/share/cpp_common/cmake/cpp_commonConfig.cmake"
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"/opt/ros/melodic/share/cpp_common/cmake/cpp_commonConfig.cmake"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/../cmake/setup_custom_pythonpath.sh.in"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-extras.cmake"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-macros.cmake"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigure-msg-extras.cmake"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigureConfig-version.cmake"
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"/opt/ros/melodic/share/dynamic_reconfigure/cmake/dynamic_reconfigureConfig.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencpp-extras.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencpp-extras.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencppConfig-version.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencppConfig-version.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencppConfig.cmake"
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"/opt/ros/melodic/share/gencpp/cmake/gencppConfig.cmake"
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@ -186,6 +192,7 @@ set(CMAKE_MAKEFILE_PRODUCTS
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"catkin_generated/detect_targets-msg-extras.cmake.installspace.in"
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"cmake/detect_targets-genmsg-context.py"
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"cmake/detect_targets-genmsg-context.py"
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"catkin_generated/stamps/detect_targets/pkg-genmsg.cmake.em.stamp"
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"catkin_generated/stamps/detect_targets/pkg-genmsg.cmake.em.stamp"
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"setup_custom_pythonpath.sh"
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"catkin_generated/stamps/detect_targets/package.xml.stamp"
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"catkin_generated/stamps/detect_targets/package.xml.stamp"
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"catkin_generated/pkg.develspace.context.pc.py"
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"catkin_generated/pkg.develspace.context.pc.py"
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"catkin_generated/stamps/detect_targets/pkg.pc.em.stamp"
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@ -205,10 +212,18 @@ set(CMAKE_MAKEFILE_PRODUCTS
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# Dependency information for all targets:
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@ -218,6 +233,8 @@ set(CMAKE_DEPEND_INFO_FILES
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@ -59,6 +59,270 @@ CMAKE_SOURCE_DIR = /home/klafyvel/Documents/supelec/2A/projet/workspace/src/dete
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|
||||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_lisp.dir/build.make CMakeFiles/detect_targets_generate_messages_lisp.dir/build
|
|
||||||
.PHONY : detect_targets_generate_messages_lisp/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named detect_targets_genlisp
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
detect_targets_genlisp: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_genlisp
|
|
||||||
.PHONY : detect_targets_genlisp
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
detect_targets_genlisp/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/detect_targets_genlisp.dir/build.make CMakeFiles/detect_targets_genlisp.dir/build
|
|
||||||
.PHONY : detect_targets_genlisp/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named rosgraph_msgs_generate_messages_nodejs
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
rosgraph_msgs_generate_messages_nodejs: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_nodejs
|
|
||||||
.PHONY : rosgraph_msgs_generate_messages_nodejs
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
rosgraph_msgs_generate_messages_nodejs/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/build.make CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/build
|
|
||||||
.PHONY : rosgraph_msgs_generate_messages_nodejs/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named detect_targets_generate_messages_nodejs
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
detect_targets_generate_messages_nodejs: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_nodejs
|
|
||||||
.PHONY : detect_targets_generate_messages_nodejs
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
detect_targets_generate_messages_nodejs/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_nodejs.dir/build.make CMakeFiles/detect_targets_generate_messages_nodejs.dir/build
|
|
||||||
.PHONY : detect_targets_generate_messages_nodejs/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named detect_targets_gennodejs
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
detect_targets_gennodejs: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_gennodejs
|
|
||||||
.PHONY : detect_targets_gennodejs
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
detect_targets_gennodejs/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/detect_targets_gennodejs.dir/build.make CMakeFiles/detect_targets_gennodejs.dir/build
|
|
||||||
.PHONY : detect_targets_gennodejs/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named detect_targets_genpy
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
detect_targets_genpy: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_genpy
|
|
||||||
.PHONY : detect_targets_genpy
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
detect_targets_genpy/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/detect_targets_genpy.dir/build.make CMakeFiles/detect_targets_genpy.dir/build
|
|
||||||
.PHONY : detect_targets_genpy/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Target rules for targets named detect_targets_generate_messages_py
|
|
||||||
|
|
||||||
# Build rule for target.
|
|
||||||
detect_targets_generate_messages_py: cmake_check_build_system
|
|
||||||
$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_py
|
|
||||||
.PHONY : detect_targets_generate_messages_py
|
|
||||||
|
|
||||||
# fast build rule for target.
|
|
||||||
detect_targets_generate_messages_py/fast:
|
|
||||||
$(MAKE) -f CMakeFiles/detect_targets_generate_messages_py.dir/build.make CMakeFiles/detect_targets_generate_messages_py.dir/build
|
|
||||||
.PHONY : detect_targets_generate_messages_py/fast
|
|
||||||
|
|
||||||
#=============================================================================
|
#=============================================================================
|
||||||
# Target rules for targets named gmock_main
|
# Target rules for targets named gmock_main
|
||||||
|
|
||||||
|
|
@ -710,10 +801,19 @@ help:
|
||||||
@echo "... install"
|
@echo "... install"
|
||||||
@echo "... list_install_components"
|
@echo "... list_install_components"
|
||||||
@echo "... test"
|
@echo "... test"
|
||||||
|
@echo "... detect_targets_gencfg"
|
||||||
|
@echo "... edit_cache"
|
||||||
|
@echo "... detect_targets_genpy"
|
||||||
|
@echo "... detect_targets_generate_messages_py"
|
||||||
|
@echo "... detect_targets_gennodejs"
|
||||||
|
@echo "... detect_targets_genlisp"
|
||||||
|
@echo "... detect_targets_generate_messages_lisp"
|
||||||
|
@echo "... detect_targets_generate_messages_nodejs"
|
||||||
|
@echo "... rosgraph_msgs_generate_messages_nodejs"
|
||||||
@echo "... rosgraph_msgs_generate_messages_py"
|
@echo "... rosgraph_msgs_generate_messages_py"
|
||||||
@echo "... std_msgs_generate_messages_eus"
|
@echo "... std_msgs_generate_messages_eus"
|
||||||
@echo "... rosgraph_msgs_generate_messages_lisp"
|
@echo "... rosgraph_msgs_generate_messages_lisp"
|
||||||
@echo "... rosgraph_msgs_generate_messages_cpp"
|
@echo "... dynamic_reconfigure_generate_messages_nodejs"
|
||||||
@echo "... roscpp_generate_messages_py"
|
@echo "... roscpp_generate_messages_py"
|
||||||
@echo "... std_msgs_generate_messages_py"
|
@echo "... std_msgs_generate_messages_py"
|
||||||
@echo "... geometry_msgs_generate_messages_eus"
|
@echo "... geometry_msgs_generate_messages_eus"
|
||||||
|
|
@ -724,6 +824,8 @@ help:
|
||||||
@echo "... rebuild_cache"
|
@echo "... rebuild_cache"
|
||||||
@echo "... roscpp_generate_messages_cpp"
|
@echo "... roscpp_generate_messages_cpp"
|
||||||
@echo "... detect_targets_generate_messages"
|
@echo "... detect_targets_generate_messages"
|
||||||
|
@echo "... detect_targets_geneus"
|
||||||
|
@echo "... _detect_targets_generate_messages_check_deps_component_centers"
|
||||||
@echo "... download_extra_data"
|
@echo "... download_extra_data"
|
||||||
@echo "... run_tests"
|
@echo "... run_tests"
|
||||||
@echo "... std_msgs_generate_messages_cpp"
|
@echo "... std_msgs_generate_messages_cpp"
|
||||||
|
|
@ -733,23 +835,19 @@ help:
|
||||||
@echo "... doxygen"
|
@echo "... doxygen"
|
||||||
@echo "... std_msgs_generate_messages_lisp"
|
@echo "... std_msgs_generate_messages_lisp"
|
||||||
@echo "... std_msgs_generate_messages_nodejs"
|
@echo "... std_msgs_generate_messages_nodejs"
|
||||||
|
@echo "... dynamic_reconfigure_generate_messages_eus"
|
||||||
@echo "... detect_targets_generate_messages_eus"
|
@echo "... detect_targets_generate_messages_eus"
|
||||||
@echo "... geometry_msgs_generate_messages_cpp"
|
@echo "... geometry_msgs_generate_messages_cpp"
|
||||||
@echo "... geometry_msgs_generate_messages_lisp"
|
@echo "... geometry_msgs_generate_messages_lisp"
|
||||||
@echo "... geometry_msgs_generate_messages_py"
|
@echo "... geometry_msgs_generate_messages_py"
|
||||||
|
@echo "... dynamic_reconfigure_generate_messages_py"
|
||||||
|
@echo "... rosgraph_msgs_generate_messages_cpp"
|
||||||
|
@echo "... dynamic_reconfigure_generate_messages_cpp"
|
||||||
|
@echo "... dynamic_reconfigure_generate_messages_lisp"
|
||||||
|
@echo "... dynamic_reconfigure_gencfg"
|
||||||
@echo "... rosgraph_msgs_generate_messages_eus"
|
@echo "... rosgraph_msgs_generate_messages_eus"
|
||||||
@echo "... detect_targets_generate_messages_cpp"
|
@echo "... detect_targets_generate_messages_cpp"
|
||||||
@echo "... detect_targets_gencpp"
|
@echo "... detect_targets_gencpp"
|
||||||
@echo "... _detect_targets_generate_messages_check_deps_component_centers"
|
|
||||||
@echo "... detect_targets_geneus"
|
|
||||||
@echo "... detect_targets_generate_messages_lisp"
|
|
||||||
@echo "... detect_targets_genlisp"
|
|
||||||
@echo "... rosgraph_msgs_generate_messages_nodejs"
|
|
||||||
@echo "... detect_targets_generate_messages_nodejs"
|
|
||||||
@echo "... detect_targets_gennodejs"
|
|
||||||
@echo "... edit_cache"
|
|
||||||
@echo "... detect_targets_genpy"
|
|
||||||
@echo "... detect_targets_generate_messages_py"
|
|
||||||
@echo "... gmock_main"
|
@echo "... gmock_main"
|
||||||
@echo "... gmock"
|
@echo "... gmock"
|
||||||
@echo "... gtest_main"
|
@echo "... gtest_main"
|
||||||
|
|
|
||||||
|
|
@ -152,7 +152,7 @@ foreach(library ${libraries})
|
||||||
endif()
|
endif()
|
||||||
endforeach()
|
endforeach()
|
||||||
|
|
||||||
set(detect_targets_EXPORTED_TARGETS "detect_targets_generate_messages_cpp;detect_targets_generate_messages_eus;detect_targets_generate_messages_lisp;detect_targets_generate_messages_nodejs;detect_targets_generate_messages_py")
|
set(detect_targets_EXPORTED_TARGETS "detect_targets_generate_messages_cpp;detect_targets_generate_messages_eus;detect_targets_generate_messages_lisp;detect_targets_generate_messages_nodejs;detect_targets_generate_messages_py;detect_targets_gencfg")
|
||||||
# create dummy targets for exported code generation targets to make life of users easier
|
# create dummy targets for exported code generation targets to make life of users easier
|
||||||
foreach(t ${detect_targets_EXPORTED_TARGETS})
|
foreach(t ${detect_targets_EXPORTED_TARGETS})
|
||||||
if(NOT TARGET ${t})
|
if(NOT TARGET ${t})
|
||||||
|
|
|
||||||
|
|
@ -151,6 +151,22 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_
|
||||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages" TYPE DIRECTORY FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets")
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages" TYPE DIRECTORY FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/__init__.py")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
execute_process(COMMAND "/usr/bin/python2" -m compileall "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/cfg")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages/detect_targets" TYPE DIRECTORY FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/cfg")
|
||||||
|
endif()
|
||||||
|
|
||||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/installspace/detect_targets.pc")
|
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/installspace/detect_targets.pc")
|
||||||
endif()
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,4 +1,4 @@
|
||||||
CMAKE_PROGRESS_1 = 8
|
CMAKE_PROGRESS_1 = 9
|
||||||
CMAKE_PROGRESS_2 = 9
|
CMAKE_PROGRESS_2 = 10
|
||||||
CMAKE_PROGRESS_3 = 10
|
CMAKE_PROGRESS_3 = 11
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,5 @@
|
||||||
CMAKE_PROGRESS_1 = 11
|
CMAKE_PROGRESS_1 = 12
|
||||||
CMAKE_PROGRESS_2 = 12
|
CMAKE_PROGRESS_2 = 13
|
||||||
CMAKE_PROGRESS_3 = 13
|
CMAKE_PROGRESS_3 = 14
|
||||||
CMAKE_PROGRESS_4 = 14
|
CMAKE_PROGRESS_4 = 15
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,3 +1,3 @@
|
||||||
CMAKE_PROGRESS_1 = 15
|
CMAKE_PROGRESS_1 = 16
|
||||||
CMAKE_PROGRESS_2 = 16
|
CMAKE_PROGRESS_2 = 17
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,3 +1,3 @@
|
||||||
CMAKE_PROGRESS_1 = 17
|
CMAKE_PROGRESS_1 = 18
|
||||||
CMAKE_PROGRESS_2 = 18
|
CMAKE_PROGRESS_2 = 19
|
||||||
|
|
||||||
|
|
|
||||||
5
workspace/build/detect_targets/setup_custom_pythonpath.sh
Executable file
5
workspace/build/detect_targets/setup_custom_pythonpath.sh
Executable file
|
|
@ -0,0 +1,5 @@
|
||||||
|
#!/usr/bin/env sh
|
||||||
|
# generated from dynamic_reconfigure/cmake/setup_custom_pythonpath.sh.in
|
||||||
|
|
||||||
|
PYTHONPATH=/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages:$PYTHONPATH
|
||||||
|
exec "$@"
|
||||||
|
|
@ -15,7 +15,7 @@ import dynamic_reconfigure.server
|
||||||
from drone_demo.cfg import TriangleParamConfig
|
from drone_demo.cfg import TriangleParamConfig
|
||||||
from drone_demo.msg import control
|
from drone_demo.msg import control
|
||||||
|
|
||||||
from detect_targets.msg import component_centers
|
from vqimg.msg import component_centers
|
||||||
|
|
||||||
class TriangleControl:
|
class TriangleControl:
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -15,7 +15,7 @@ import dynamic_reconfigure.server
|
||||||
from drone_demo.cfg import TriangleParamConfig
|
from drone_demo.cfg import TriangleParamConfig
|
||||||
from drone_demo.msg import control
|
from drone_demo.msg import control
|
||||||
|
|
||||||
from detect_targets.msg import component_centers
|
from vqimg.msg import component_centers
|
||||||
|
|
||||||
class TriangleControl:
|
class TriangleControl:
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,529 @@
|
||||||
|
//#line 2 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||||
|
// *********************************************************
|
||||||
|
//
|
||||||
|
// File autogenerated for the detect_targets package
|
||||||
|
// by the dynamic_reconfigure package.
|
||||||
|
// Please do not edit.
|
||||||
|
//
|
||||||
|
// ********************************************************/
|
||||||
|
|
||||||
|
#ifndef __detect_targets__DETECTTARGETSCONFIG_H__
|
||||||
|
#define __detect_targets__DETECTTARGETSCONFIG_H__
|
||||||
|
|
||||||
|
#if __cplusplus >= 201103L
|
||||||
|
#define DYNAMIC_RECONFIGURE_FINAL final
|
||||||
|
#else
|
||||||
|
#define DYNAMIC_RECONFIGURE_FINAL
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <dynamic_reconfigure/config_tools.h>
|
||||||
|
#include <limits>
|
||||||
|
#include <ros/node_handle.h>
|
||||||
|
#include <dynamic_reconfigure/ConfigDescription.h>
|
||||||
|
#include <dynamic_reconfigure/ParamDescription.h>
|
||||||
|
#include <dynamic_reconfigure/Group.h>
|
||||||
|
#include <dynamic_reconfigure/config_init_mutex.h>
|
||||||
|
#include <boost/any.hpp>
|
||||||
|
|
||||||
|
namespace detect_targets
|
||||||
|
{
|
||||||
|
class DetectTargetsConfigStatics;
|
||||||
|
|
||||||
|
class DetectTargetsConfig
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
AbstractParamDescription(std::string n, std::string t, uint32_t l,
|
||||||
|
std::string d, std::string e)
|
||||||
|
{
|
||||||
|
name = n;
|
||||||
|
type = t;
|
||||||
|
level = l;
|
||||||
|
description = d;
|
||||||
|
edit_method = e;
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void clamp(DetectTargetsConfig &config, const DetectTargetsConfig &max, const DetectTargetsConfig &min) const = 0;
|
||||||
|
virtual void calcLevel(uint32_t &level, const DetectTargetsConfig &config1, const DetectTargetsConfig &config2) const = 0;
|
||||||
|
virtual void fromServer(const ros::NodeHandle &nh, DetectTargetsConfig &config) const = 0;
|
||||||
|
virtual void toServer(const ros::NodeHandle &nh, const DetectTargetsConfig &config) const = 0;
|
||||||
|
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DetectTargetsConfig &config) const = 0;
|
||||||
|
virtual void toMessage(dynamic_reconfigure::Config &msg, const DetectTargetsConfig &config) const = 0;
|
||||||
|
virtual void getValue(const DetectTargetsConfig &config, boost::any &val) const = 0;
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
|
||||||
|
typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
|
||||||
|
|
||||||
|
// Final keyword added to class because it has virtual methods and inherits
|
||||||
|
// from a class with a non-virtual destructor.
|
||||||
|
template <class T>
|
||||||
|
class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
|
||||||
|
std::string a_description, std::string a_edit_method, T DetectTargetsConfig::* a_f) :
|
||||||
|
AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
|
||||||
|
field(a_f)
|
||||||
|
{}
|
||||||
|
|
||||||
|
T (DetectTargetsConfig::* field);
|
||||||
|
|
||||||
|
virtual void clamp(DetectTargetsConfig &config, const DetectTargetsConfig &max, const DetectTargetsConfig &min) const
|
||||||
|
{
|
||||||
|
if (config.*field > max.*field)
|
||||||
|
config.*field = max.*field;
|
||||||
|
|
||||||
|
if (config.*field < min.*field)
|
||||||
|
config.*field = min.*field;
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void calcLevel(uint32_t &comb_level, const DetectTargetsConfig &config1, const DetectTargetsConfig &config2) const
|
||||||
|
{
|
||||||
|
if (config1.*field != config2.*field)
|
||||||
|
comb_level |= level;
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void fromServer(const ros::NodeHandle &nh, DetectTargetsConfig &config) const
|
||||||
|
{
|
||||||
|
nh.getParam(name, config.*field);
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void toServer(const ros::NodeHandle &nh, const DetectTargetsConfig &config) const
|
||||||
|
{
|
||||||
|
nh.setParam(name, config.*field);
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DetectTargetsConfig &config) const
|
||||||
|
{
|
||||||
|
return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void toMessage(dynamic_reconfigure::Config &msg, const DetectTargetsConfig &config) const
|
||||||
|
{
|
||||||
|
dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void getValue(const DetectTargetsConfig &config, boost::any &val) const
|
||||||
|
{
|
||||||
|
val = config.*field;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
class AbstractGroupDescription : public dynamic_reconfigure::Group
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
|
||||||
|
{
|
||||||
|
name = n;
|
||||||
|
type = t;
|
||||||
|
parent = p;
|
||||||
|
state = s;
|
||||||
|
id = i;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
|
||||||
|
bool state;
|
||||||
|
|
||||||
|
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
|
||||||
|
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
|
||||||
|
virtual void updateParams(boost::any &cfg, DetectTargetsConfig &top) const= 0;
|
||||||
|
virtual void setInitialState(boost::any &cfg) const = 0;
|
||||||
|
|
||||||
|
|
||||||
|
void convertParams()
|
||||||
|
{
|
||||||
|
for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
|
||||||
|
{
|
||||||
|
parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
|
||||||
|
typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
|
||||||
|
|
||||||
|
// Final keyword added to class because it has virtual methods and inherits
|
||||||
|
// from a class with a non-virtual destructor.
|
||||||
|
template<class T, class PT>
|
||||||
|
class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
|
||||||
|
{
|
||||||
|
parameters = g.parameters;
|
||||||
|
abstract_parameters = g.abstract_parameters;
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
|
||||||
|
{
|
||||||
|
PT* config = boost::any_cast<PT*>(cfg);
|
||||||
|
if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
|
||||||
|
return false;
|
||||||
|
|
||||||
|
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||||
|
{
|
||||||
|
boost::any n = &((*config).*field);
|
||||||
|
if(!(*i)->fromMessage(msg, n))
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void setInitialState(boost::any &cfg) const
|
||||||
|
{
|
||||||
|
PT* config = boost::any_cast<PT*>(cfg);
|
||||||
|
T* group = &((*config).*field);
|
||||||
|
group->state = state;
|
||||||
|
|
||||||
|
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||||
|
{
|
||||||
|
boost::any n = boost::any(&((*config).*field));
|
||||||
|
(*i)->setInitialState(n);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void updateParams(boost::any &cfg, DetectTargetsConfig &top) const
|
||||||
|
{
|
||||||
|
PT* config = boost::any_cast<PT*>(cfg);
|
||||||
|
|
||||||
|
T* f = &((*config).*field);
|
||||||
|
f->setParams(top, abstract_parameters);
|
||||||
|
|
||||||
|
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||||
|
{
|
||||||
|
boost::any n = &((*config).*field);
|
||||||
|
(*i)->updateParams(n, top);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
|
||||||
|
{
|
||||||
|
const PT config = boost::any_cast<PT>(cfg);
|
||||||
|
dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
|
||||||
|
|
||||||
|
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
|
||||||
|
{
|
||||||
|
(*i)->toMessage(msg, config.*field);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
T (PT::* field);
|
||||||
|
std::vector<DetectTargetsConfig::AbstractGroupDescriptionConstPtr> groups;
|
||||||
|
};
|
||||||
|
|
||||||
|
class DEFAULT
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
DEFAULT()
|
||||||
|
{
|
||||||
|
state = true;
|
||||||
|
name = "Default";
|
||||||
|
}
|
||||||
|
|
||||||
|
void setParams(DetectTargetsConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
|
||||||
|
{
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
|
||||||
|
{
|
||||||
|
boost::any val;
|
||||||
|
(*_i)->getValue(config, val);
|
||||||
|
|
||||||
|
if("blue"==(*_i)->name){blue = boost::any_cast<int>(val);}
|
||||||
|
if("red"==(*_i)->name){red = boost::any_cast<int>(val);}
|
||||||
|
if("green"==(*_i)->name){green = boost::any_cast<int>(val);}
|
||||||
|
if("draw_targets"==(*_i)->name){draw_targets = boost::any_cast<bool>(val);}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int blue;
|
||||||
|
int red;
|
||||||
|
int green;
|
||||||
|
bool draw_targets;
|
||||||
|
|
||||||
|
bool state;
|
||||||
|
std::string name;
|
||||||
|
|
||||||
|
|
||||||
|
}groups;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
int blue;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
int red;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
int green;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
bool draw_targets;
|
||||||
|
//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||||
|
|
||||||
|
bool __fromMessage__(dynamic_reconfigure::Config &msg)
|
||||||
|
{
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||||
|
|
||||||
|
int count = 0;
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
if ((*i)->fromMessage(msg, *this))
|
||||||
|
count++;
|
||||||
|
|
||||||
|
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
|
||||||
|
{
|
||||||
|
if ((*i)->id == 0)
|
||||||
|
{
|
||||||
|
boost::any n = boost::any(this);
|
||||||
|
(*i)->updateParams(n, *this);
|
||||||
|
(*i)->fromMessage(msg, n);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (count != dynamic_reconfigure::ConfigTools::size(msg))
|
||||||
|
{
|
||||||
|
ROS_ERROR("DetectTargetsConfig::__fromMessage__ called with an unexpected parameter.");
|
||||||
|
ROS_ERROR("Booleans:");
|
||||||
|
for (unsigned int i = 0; i < msg.bools.size(); i++)
|
||||||
|
ROS_ERROR(" %s", msg.bools[i].name.c_str());
|
||||||
|
ROS_ERROR("Integers:");
|
||||||
|
for (unsigned int i = 0; i < msg.ints.size(); i++)
|
||||||
|
ROS_ERROR(" %s", msg.ints[i].name.c_str());
|
||||||
|
ROS_ERROR("Doubles:");
|
||||||
|
for (unsigned int i = 0; i < msg.doubles.size(); i++)
|
||||||
|
ROS_ERROR(" %s", msg.doubles[i].name.c_str());
|
||||||
|
ROS_ERROR("Strings:");
|
||||||
|
for (unsigned int i = 0; i < msg.strs.size(); i++)
|
||||||
|
ROS_ERROR(" %s", msg.strs[i].name.c_str());
|
||||||
|
// @todo Check that there are no duplicates. Make this error more
|
||||||
|
// explicit.
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// This version of __toMessage__ is used during initialization of
|
||||||
|
// statics when __getParamDescriptions__ can't be called yet.
|
||||||
|
void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
|
||||||
|
{
|
||||||
|
dynamic_reconfigure::ConfigTools::clear(msg);
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
(*i)->toMessage(msg, *this);
|
||||||
|
|
||||||
|
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
|
||||||
|
{
|
||||||
|
if((*i)->id == 0)
|
||||||
|
{
|
||||||
|
(*i)->toMessage(msg, *this);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void __toMessage__(dynamic_reconfigure::Config &msg) const
|
||||||
|
{
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||||
|
__toMessage__(msg, __param_descriptions__, __group_descriptions__);
|
||||||
|
}
|
||||||
|
|
||||||
|
void __toServer__(const ros::NodeHandle &nh) const
|
||||||
|
{
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
(*i)->toServer(nh, *this);
|
||||||
|
}
|
||||||
|
|
||||||
|
void __fromServer__(const ros::NodeHandle &nh)
|
||||||
|
{
|
||||||
|
static bool setup=false;
|
||||||
|
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
(*i)->fromServer(nh, *this);
|
||||||
|
|
||||||
|
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
|
||||||
|
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
|
||||||
|
if (!setup && (*i)->id == 0) {
|
||||||
|
setup = true;
|
||||||
|
boost::any n = boost::any(this);
|
||||||
|
(*i)->setInitialState(n);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void __clamp__()
|
||||||
|
{
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
const DetectTargetsConfig &__max__ = __getMax__();
|
||||||
|
const DetectTargetsConfig &__min__ = __getMin__();
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
(*i)->clamp(*this, __max__, __min__);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t __level__(const DetectTargetsConfig &config) const
|
||||||
|
{
|
||||||
|
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
|
||||||
|
uint32_t level = 0;
|
||||||
|
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
|
||||||
|
(*i)->calcLevel(level, config, *this);
|
||||||
|
return level;
|
||||||
|
}
|
||||||
|
|
||||||
|
static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
|
||||||
|
static const DetectTargetsConfig &__getDefault__();
|
||||||
|
static const DetectTargetsConfig &__getMax__();
|
||||||
|
static const DetectTargetsConfig &__getMin__();
|
||||||
|
static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
|
||||||
|
static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
|
||||||
|
|
||||||
|
private:
|
||||||
|
static const DetectTargetsConfigStatics *__get_statics__();
|
||||||
|
};
|
||||||
|
|
||||||
|
template <> // Max and min are ignored for strings.
|
||||||
|
inline void DetectTargetsConfig::ParamDescription<std::string>::clamp(DetectTargetsConfig &config, const DetectTargetsConfig &max, const DetectTargetsConfig &min) const
|
||||||
|
{
|
||||||
|
(void) config;
|
||||||
|
(void) min;
|
||||||
|
(void) max;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
class DetectTargetsConfigStatics
|
||||||
|
{
|
||||||
|
friend class DetectTargetsConfig;
|
||||||
|
|
||||||
|
DetectTargetsConfigStatics()
|
||||||
|
{
|
||||||
|
DetectTargetsConfig::GroupDescription<DetectTargetsConfig::DEFAULT, DetectTargetsConfig> Default("Default", "", 0, 0, true, &DetectTargetsConfig::groups);
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__min__.blue = 0;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__max__.blue = 255;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__default__.blue = 140;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue", "int", 0, "Blue threshold", "", &DetectTargetsConfig::blue)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("blue", "int", 0, "Blue threshold", "", &DetectTargetsConfig::blue)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__min__.red = 0;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__max__.red = 255;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__default__.red = 120;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red", "int", 0, "Bed threshold", "", &DetectTargetsConfig::red)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("red", "int", 0, "Bed threshold", "", &DetectTargetsConfig::red)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__min__.green = 0;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__max__.green = 255;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__default__.green = 190;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green", "int", 0, "Green threshold", "", &DetectTargetsConfig::green)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<int>("green", "int", 0, "Green threshold", "", &DetectTargetsConfig::green)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__min__.draw_targets = 0;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__max__.draw_targets = 1;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__default__.draw_targets = 0;
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
Default.abstract_parameters.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<bool>("draw_targets", "bool", 0, "Draw Targets", "", &DetectTargetsConfig::draw_targets)));
|
||||||
|
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__param_descriptions__.push_back(DetectTargetsConfig::AbstractParamDescriptionConstPtr(new DetectTargetsConfig::ParamDescription<bool>("draw_targets", "bool", 0, "Draw Targets", "", &DetectTargetsConfig::draw_targets)));
|
||||||
|
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
Default.convertParams();
|
||||||
|
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
|
||||||
|
__group_descriptions__.push_back(DetectTargetsConfig::AbstractGroupDescriptionConstPtr(new DetectTargetsConfig::GroupDescription<DetectTargetsConfig::DEFAULT, DetectTargetsConfig>(Default)));
|
||||||
|
//#line 366 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
|
||||||
|
|
||||||
|
for (std::vector<DetectTargetsConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
|
||||||
|
{
|
||||||
|
__description_message__.groups.push_back(**i);
|
||||||
|
}
|
||||||
|
__max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
|
||||||
|
__min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
|
||||||
|
__default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
|
||||||
|
}
|
||||||
|
std::vector<DetectTargetsConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
|
||||||
|
std::vector<DetectTargetsConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
|
||||||
|
DetectTargetsConfig __max__;
|
||||||
|
DetectTargetsConfig __min__;
|
||||||
|
DetectTargetsConfig __default__;
|
||||||
|
dynamic_reconfigure::ConfigDescription __description_message__;
|
||||||
|
|
||||||
|
static const DetectTargetsConfigStatics *get_instance()
|
||||||
|
{
|
||||||
|
// Split this off in a separate function because I know that
|
||||||
|
// instance will get initialized the first time get_instance is
|
||||||
|
// called, and I am guaranteeing that get_instance gets called at
|
||||||
|
// most once.
|
||||||
|
static DetectTargetsConfigStatics instance;
|
||||||
|
return &instance;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
inline const dynamic_reconfigure::ConfigDescription &DetectTargetsConfig::__getDescriptionMessage__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__description_message__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const DetectTargetsConfig &DetectTargetsConfig::__getDefault__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__default__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const DetectTargetsConfig &DetectTargetsConfig::__getMax__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__max__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const DetectTargetsConfig &DetectTargetsConfig::__getMin__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__min__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const std::vector<DetectTargetsConfig::AbstractParamDescriptionConstPtr> &DetectTargetsConfig::__getParamDescriptions__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__param_descriptions__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const std::vector<DetectTargetsConfig::AbstractGroupDescriptionConstPtr> &DetectTargetsConfig::__getGroupDescriptions__()
|
||||||
|
{
|
||||||
|
return __get_statics__()->__group_descriptions__;
|
||||||
|
}
|
||||||
|
|
||||||
|
inline const DetectTargetsConfigStatics *DetectTargetsConfig::__get_statics__()
|
||||||
|
{
|
||||||
|
const static DetectTargetsConfigStatics *statics;
|
||||||
|
|
||||||
|
if (statics) // Common case
|
||||||
|
return statics;
|
||||||
|
|
||||||
|
boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
|
||||||
|
|
||||||
|
if (statics) // In case we lost a race.
|
||||||
|
return statics;
|
||||||
|
|
||||||
|
statics = DetectTargetsConfigStatics::get_instance();
|
||||||
|
|
||||||
|
return statics;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#undef DYNAMIC_RECONFIGURE_FINAL
|
||||||
|
|
||||||
|
#endif // __DETECTTARGETSRECONFIGURATOR_H__
|
||||||
|
|
@ -152,7 +152,7 @@ foreach(library ${libraries})
|
||||||
endif()
|
endif()
|
||||||
endforeach()
|
endforeach()
|
||||||
|
|
||||||
set(detect_targets_EXPORTED_TARGETS "detect_targets_generate_messages_cpp;detect_targets_generate_messages_eus;detect_targets_generate_messages_lisp;detect_targets_generate_messages_nodejs;detect_targets_generate_messages_py")
|
set(detect_targets_EXPORTED_TARGETS "detect_targets_generate_messages_cpp;detect_targets_generate_messages_eus;detect_targets_generate_messages_lisp;detect_targets_generate_messages_nodejs;detect_targets_generate_messages_py;detect_targets_gencfg")
|
||||||
# create dummy targets for exported code generation targets to make life of users easier
|
# create dummy targets for exported code generation targets to make life of users easier
|
||||||
foreach(t ${detect_targets_EXPORTED_TARGETS})
|
foreach(t ${detect_targets_EXPORTED_TARGETS})
|
||||||
if(NOT TARGET ${t})
|
if(NOT TARGET ${t})
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
\subsubsection usage Usage
|
||||||
|
\verbatim
|
||||||
|
<node name="detect_targets" pkg="detect_targets" type="detect_targets">
|
||||||
|
<param name="blue" type="int" value="140" />
|
||||||
|
<param name="red" type="int" value="120" />
|
||||||
|
<param name="green" type="int" value="190" />
|
||||||
|
<param name="draw_targets" type="bool" value="False" />
|
||||||
|
</node>
|
||||||
|
\endverbatim
|
||||||
|
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
\subsubsection parameters ROS parameters
|
||||||
|
|
||||||
|
Reads and maintains the following parameters on the ROS server
|
||||||
|
|
||||||
|
- \b "~blue" : \b [int] Blue threshold min: 0, default: 140, max: 255
|
||||||
|
- \b "~red" : \b [int] Bed threshold min: 0, default: 120, max: 255
|
||||||
|
- \b "~green" : \b [int] Green threshold min: 0, default: 190, max: 255
|
||||||
|
- \b "~draw_targets" : \b [bool] Draw Targets min: False, default: False, max: True
|
||||||
|
|
||||||
|
|
@ -0,0 +1,24 @@
|
||||||
|
# Autogenerated param section. Do not hand edit.
|
||||||
|
param {
|
||||||
|
group.0 {
|
||||||
|
name=Dynamically Reconfigurable Parameters
|
||||||
|
desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
|
||||||
|
0.name= ~blue
|
||||||
|
0.default= 140
|
||||||
|
0.type= int
|
||||||
|
0.desc=Blue threshold Range: 0 to 255
|
||||||
|
1.name= ~red
|
||||||
|
1.default= 120
|
||||||
|
1.type= int
|
||||||
|
1.desc=Bed threshold Range: 0 to 255
|
||||||
|
2.name= ~green
|
||||||
|
2.default= 190
|
||||||
|
2.type= int
|
||||||
|
2.desc=Green threshold Range: 0 to 255
|
||||||
|
3.name= ~draw_targets
|
||||||
|
3.default= False
|
||||||
|
3.type= bool
|
||||||
|
3.desc=Draw Targets
|
||||||
|
}
|
||||||
|
}
|
||||||
|
# End of autogenerated section. You may edit below.
|
||||||
1
workspace/devel/include/detect_targets/DetectTargetsConfig.h
Symbolic link
1
workspace/devel/include/detect_targets/DetectTargetsConfig.h
Symbolic link
|
|
@ -0,0 +1 @@
|
||||||
|
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig-usage.dox
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig.dox
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig.wikidoc
|
||||||
|
|
@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
|
||||||
std_msgs
|
std_msgs
|
||||||
geometry_msgs
|
geometry_msgs
|
||||||
message_generation
|
message_generation
|
||||||
|
dynamic_reconfigure
|
||||||
)
|
)
|
||||||
|
|
||||||
## System dependencies are found with CMake's conventions
|
## System dependencies are found with CMake's conventions
|
||||||
|
|
@ -89,10 +90,9 @@ generate_messages(
|
||||||
## and list every .cfg file to be processed
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
# generate_dynamic_reconfigure_options(
|
generate_dynamic_reconfigure_options(
|
||||||
# cfg/DynReconf1.cfg
|
cfg/DetectTargets.cfg
|
||||||
# cfg/DynReconf2.cfg
|
)
|
||||||
# )
|
|
||||||
|
|
||||||
###################################
|
###################################
|
||||||
## catkin specific configuration ##
|
## catkin specific configuration ##
|
||||||
|
|
|
||||||
13
workspace/src/detect_targets/cfg/DetectTargets.cfg
Executable file
13
workspace/src/detect_targets/cfg/DetectTargets.cfg
Executable file
|
|
@ -0,0 +1,13 @@
|
||||||
|
#!/usr/bin/env python
|
||||||
|
PACKAGE = "detect_targets"
|
||||||
|
|
||||||
|
from dynamic_reconfigure.parameter_generator_catkin import *
|
||||||
|
|
||||||
|
gen = ParameterGenerator()
|
||||||
|
|
||||||
|
gen.add("blue", int_t, 0, "Blue threshold", 140, 0, 255)
|
||||||
|
gen.add("red", int_t, 0, "Bed threshold", 120, 0, 255)
|
||||||
|
gen.add("green", int_t, 0, "Green threshold", 190, 0, 255)
|
||||||
|
gen.add("draw_targets", bool_t, 0, "Draw Targets", False)
|
||||||
|
|
||||||
|
exit(gen.generate(PACKAGE, "detect_targets", "DetectTargets"))
|
||||||
Binary file not shown.
|
|
@ -4,9 +4,11 @@ import rospy
|
||||||
from sensor_msgs.msg import Image
|
from sensor_msgs.msg import Image
|
||||||
from cv_bridge import CvBridge
|
from cv_bridge import CvBridge
|
||||||
import numpy as np
|
import numpy as np
|
||||||
|
import dynamic_reconfigure.server
|
||||||
|
|
||||||
from vqimg.msg import component_centers, component_center
|
from vqimg.msg import component_centers, component_center
|
||||||
from find_targets import find_targets, normalize_coordinates
|
from find_targets import find_targets, normalize_coordinates
|
||||||
|
from detect_targets.cfg import DetectTargetsConfig
|
||||||
|
|
||||||
|
|
||||||
class Publisher:
|
class Publisher:
|
||||||
|
|
@ -19,15 +21,27 @@ class Publisher:
|
||||||
self.img_pub = rospy.Publisher('img_targets', Image, queue_size=0)
|
self.img_pub = rospy.Publisher('img_targets', Image, queue_size=0)
|
||||||
rospy.Subscriber("/bebop/image_raw", Image, self.on_picture)
|
rospy.Subscriber("/bebop/image_raw", Image, self.on_picture)
|
||||||
self.bridge = CvBridge()
|
self.bridge = CvBridge()
|
||||||
|
self.config_srv = dynamic_reconfigure.server.Server(DetectTargetsConfig, self.on_reconf)
|
||||||
|
self.draw_targets = False
|
||||||
|
|
||||||
|
def on_reconf(self, config, level):
|
||||||
|
self.threshold_red = config['red']
|
||||||
|
self.threshold_blue = config['blue']
|
||||||
|
self.threshold_green = config['green']
|
||||||
|
self.draw_targets = config['draw_targets']
|
||||||
|
return config
|
||||||
|
|
||||||
def on_picture(self, msg):
|
def on_picture(self, msg):
|
||||||
img = np.array(np.asarray(self.bridge.imgmsg_to_cv2(msg)), copy=True)
|
img = np.array(np.asarray(self.bridge.imgmsg_to_cv2(msg)), copy=True)
|
||||||
H, L, R = find_targets(
|
try:
|
||||||
img,
|
H, L, R = find_targets(
|
||||||
threshold_blue=self.threshold_blue,
|
img,
|
||||||
threshold_red=self.threshold_red,
|
threshold_blue=self.threshold_blue,
|
||||||
threshold_green=self.threshold_green,
|
threshold_red=self.threshold_red,
|
||||||
)
|
threshold_green=self.threshold_green,
|
||||||
|
)
|
||||||
|
except ValueError:
|
||||||
|
return
|
||||||
pub_H = normalize_coordinates(H, msg.width, msg.height)
|
pub_H = normalize_coordinates(H, msg.width, msg.height)
|
||||||
pub_L = normalize_coordinates(L, msg.width, msg.height)
|
pub_L = normalize_coordinates(L, msg.width, msg.height)
|
||||||
pub_R = normalize_coordinates(R, msg.width, msg.height)
|
pub_R = normalize_coordinates(R, msg.width, msg.height)
|
||||||
|
|
@ -36,16 +50,16 @@ class Publisher:
|
||||||
component_center(x=pub_L[0], y=pub_L[1], nb_vertex=1, label=2),
|
component_center(x=pub_L[0], y=pub_L[1], nb_vertex=1, label=2),
|
||||||
component_center(x=pub_R[0], y=pub_R[1], nb_vertex=1, label=3),
|
component_center(x=pub_R[0], y=pub_R[1], nb_vertex=1, label=3),
|
||||||
]
|
]
|
||||||
print("Sending...", self.centers.data)
|
|
||||||
|
|
||||||
for i in range(-20, 20):
|
if self.draw_targets:
|
||||||
for j in range(-20, 20):
|
for i in range(-20, 20):
|
||||||
try:
|
for j in range(-20, 20):
|
||||||
img[int(H[1])-i, int(H[0])-j] = [0, 255, 0]
|
try:
|
||||||
img[int(L[1])-i, int(L[0])-j] = [255, 0, 0]
|
img[int(H[1])-i, int(H[0])-j] = [0, 255, 0]
|
||||||
img[int(R[1])-i, int(R[0])-j] = [0, 0, 255]
|
img[int(L[1])-i, int(L[0])-j] = [255, 0, 0]
|
||||||
except Exception:
|
img[int(R[1])-i, int(R[0])-j] = [0, 0, 255]
|
||||||
pass
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
self.pub.publish(self.centers)
|
self.pub.publish(self.centers)
|
||||||
self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
|
self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue