mppi::ParametersHandler Class Reference

Handles getting parameters and dynamic parmaeter changes. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/tools/parameters_handler.hpp>

Collaboration diagram for mppi::ParametersHandler:

Public Types
using	get_param_func_t = void(const rclcpp::Parameter &param)
using	post_callback_t = void()
using	pre_callback_t = void()

Public Member Functions
	ParametersHandler ()=default
	Constructor for mppi::ParametersHandler.
	ParametersHandler (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent)
	Constructor for mppi::ParametersHandler. More...
void	start ()
	Starts processing dynamic parameter changes.
rcl_interfaces::msg::SetParametersResult	dynamicParamsCallback (std::vector< rclcpp::Parameter > parameters)
	Dynamic parameter callback. More...
auto	getParamGetter (const std::string &ns)
	Get an object to retreive parameters. More...
template<typename T >
void	addPostCallback (T &&callback)
	Set a callback to process after parameter changes. More...
template<typename T >
void	addPreCallback (T &&callback)
	Set a callback to process before parameter changes. More...
template<typename T >
void	setDynamicParamCallback (T &setting, const std::string &name)
	Set a parameter to a dynamic parameter callback. More...
std::mutex *	getLock ()
	Get mutex lock for changing parameters. More...
template<typename T >
void	addDynamicParamCallback (const std::string &name, T &&callback)
	Set a parameter to a dynamic parameter callback. More...

Protected Member Functions
template<typename SettingT , typename ParamT >
void	getParam (SettingT &setting, const std::string &name, ParamT default_value, ParameterType param_type=ParameterType::Dynamic)
	Gets parameter. More...
template<typename ParamT , typename SettingT , typename NodeT >
void	setParam (SettingT &setting, const std::string &name, NodeT node) const
	Set a parameter. More...

Static Protected Member Functions
template<typename T >
static auto	as (const rclcpp::Parameter &parameter)
	Converts parameter type to real types. More...

Protected Attributes
std::mutex	parameters_change_mutex_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_param_handler_
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
std::string	node_name_
bool	verbose_ {false}
std::unordered_map< std::string, std::function< get_param_func_t > >	get_param_callbacks_
std::vector< std::function< pre_callback_t > >	pre_callbacks_
std::vector< std::function< post_callback_t > >	post_callbacks_

Detailed Description

Handles getting parameters and dynamic parmaeter changes.

Definition at line 41 of file parameters_handler.hpp.

Constructor & Destructor Documentation

ParametersHandler()

mppi::ParametersHandler::ParametersHandler ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent )

explicit

Constructor for mppi::ParametersHandler.

Parameters

parent

Weak ptr to node

Definition at line 20 of file parameters_handler.cpp.

Member Function Documentation

addDynamicParamCallback()

template<typename T >

void mppi::ParametersHandler::addDynamicParamCallback	(	const std::string &	name,
		T &&	callback
	)

Set a parameter to a dynamic parameter callback.

Parameters

name	Name of parameter
callback	Parameter callback

Definition at line 177 of file parameters_handler.hpp.

Referenced by mppi::critics::CostCritic::initialize(), and setDynamicParamCallback().

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addPostCallback()

template<typename T >

void mppi::ParametersHandler::addPostCallback

(

T &&

callback

)

Set a callback to process after parameter changes.

Parameters

callback

Callback function

Definition at line 183 of file parameters_handler.hpp.

addPreCallback()

template<typename T >

void mppi::ParametersHandler::addPreCallback

(

T &&

callback

)

Set a callback to process before parameter changes.

Parameters

callback

Callback function

Definition at line 189 of file parameters_handler.hpp.

as()

template<typename T >

auto mppi::ParametersHandler::as ( const rclcpp::Parameter &  parameter )

staticprotected

Converts parameter type to real types.

Parameters

parameter

Parameter to convert into real type

Returns

parameter as a functional type

Definition at line 244 of file parameters_handler.hpp.

dynamicParamsCallback()

rcl_interfaces::msg::SetParametersResult mppi::ParametersHandler::dynamicParamsCallback

(

std::vector< rclcpp::Parameter >

parameters

)

Dynamic parameter callback.

Parameters

parameter

Parameter changes to process

Returns

Set Parameter Result

Definition at line 42 of file parameters_handler.cpp.

Referenced by start().

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getLock()

std::mutex* mppi::ParametersHandler::getLock ( )

inline

Get mutex lock for changing parameters.

Returns

Pointer to mutex

Definition at line 106 of file parameters_handler.hpp.

getParam()

template<typename SettingT , typename ParamT >

void mppi::ParametersHandler::getParam ( SettingT &  setting, const std::string &  name, ParamT  default_value, ParameterType  param_type = ParameterType::Dynamic  )

protected

Gets parameter.

Parameters

setting	Return Parameter type
name	Parameter name
default_value	Default parameter value
param_type	Type of parameter (dynamic or static)

Definition at line 195 of file parameters_handler.hpp.

getParamGetter()

auto mppi::ParametersHandler::getParamGetter ( const std::string &  ns )

inline

Get an object to retreive parameters.

Parameters

ns	Namespace to get parameters within

Returns

Parameter getter object

Definition at line 165 of file parameters_handler.hpp.

Referenced by mppi::AckermannMotionModel::AckermannMotionModel(), mppi::critics::ObstaclesCritic::findCircumscribedCost(), mppi::CriticManager::getParams(), mppi::critics::ConstraintCritic::initialize(), mppi::critics::CostCritic::initialize(), mppi::critics::GoalAngleCritic::initialize(), mppi::critics::GoalCritic::initialize(), mppi::critics::ObstaclesCritic::initialize(), mppi::critics::PathAngleCritic::initialize(), mppi::critics::PathFollowCritic::initialize(), mppi::critics::PreferForwardCritic::initialize(), mppi::critics::TwirlingCritic::initialize(), mppi::critics::VelocityDeadbandCritic::initialize(), mppi::NoiseGenerator::initialize(), mppi::PathHandler::initialize(), mppi::TrajectoryVisualizer::on_configure(), mppi::critics::CriticFunction::on_configure(), and start().

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setDynamicParamCallback()

template<typename T >

void mppi::ParametersHandler::setDynamicParamCallback	(	T &	setting,
		const std::string &	name
	)

Set a parameter to a dynamic parameter callback.

Parameters

setting	Parameter
name	Name of parameter

Definition at line 222 of file parameters_handler.hpp.

References addDynamicParamCallback().

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setParam()

template<typename ParamT , typename SettingT , typename NodeT >

void mppi::ParametersHandler::setParam ( SettingT &  setting, const std::string &  name, NodeT  node  ) const

protected

Set a parameter.

Parameters

setting	Return Parameter type
name	Parameter name
node	Node to set parameter via

Definition at line 213 of file parameters_handler.hpp.

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The documentation for this class was generated from the following files:

• nav2_mppi_controller/include/nav2_mppi_controller/tools/parameters_handler.hpp
• nav2_mppi_controller/src/parameters_handler.cpp