mppi::ParametersHandler Class Reference

Handles getting parameters and dynamic parameter 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, rcl_interfaces::msg::SetParametersResult &result)
using	post_callback_t = void()
using	pre_callback_t = void()

Public Member Functions
	ParametersHandler ()=default
	Constructor for mppi::ParametersHandler.
	ParametersHandler (const nav2::LifecycleNode::WeakPtr &parent, std::string &name)
	Constructor for mppi::ParametersHandler. More...
	~ParametersHandler ()
	Destructor for mppi::ParametersHandler.
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 retrieve 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	setParamCallback (T &setting, const std::string &name, ParameterType param_type=ParameterType::Dynamic)
	Set a parameter to a dynamic parameter callback. More...
std::mutex *	getLock ()
	Get mutex lock for changing parameters. More...
template<typename T >
void	addParamCallback (const std::string &name, T &&callback)
	register a function to be called when setting a parameter 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 >
void	setParam (SettingT &setting, const std::string &name, nav2::LifecycleNode::SharedPtr 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_
nav2::LifecycleNode::WeakPtr	node_
std::string	node_name_
std::string	name_
bool	verbose_ {false}
std::unordered_map< std::string, std::function< get_param_func_t > >	get_param_callbacks_
std::unordered_map< std::string, std::function< get_param_func_t > >	get_pre_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 parameter changes.

Definition at line 42 of file parameters_handler.hpp.

Constructor & Destructor Documentation

ParametersHandler()

mppi::ParametersHandler::ParametersHandler ( const nav2::LifecycleNode::WeakPtr &  parent, std::string &  name  )

explicit

Constructor for mppi::ParametersHandler.

Parameters

parent

Weak ptr to node

Definition at line 20 of file parameters_handler.cpp.

Member Function Documentation

addParamCallback()

template<typename T >

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

register a function to be called when setting a parameter

The callback function is expected to behave as follows. Successful parameter changes should not interfere with the result parameter. Unsuccessful parameter changes should set the result.successful = false The result.reason should have "\n" appended if not empty before appending the reason that setting THIS parameter has failed.

Parameters

name	Name of parameter
callback	Parameter callback

Definition at line 197 of file parameters_handler.hpp.

Referenced by mppi::critics::CostCritic::initialize().

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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 203 of file parameters_handler.hpp.

Referenced by mppi::Optimizer::getParams().

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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 209 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 274 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 53 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 114 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 215 of file parameters_handler.hpp.

References setParamCallback().

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getParamGetter()

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

inline

Get an object to retrieve parameters.

Parameters

ns	Namespace to get parameters within

Returns

Parameter getter object

Definition at line 185 of file parameters_handler.hpp.

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

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setParam()

template<typename ParamT , typename SettingT >

void mppi::ParametersHandler::setParam ( SettingT &  setting, const std::string &  name, nav2::LifecycleNode::SharedPtr  node  ) const

protected

Set a parameter.

Parameters

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

Definition at line 230 of file parameters_handler.hpp.

setParamCallback()

template<typename T >

void mppi::ParametersHandler::setParamCallback	(	T &	setting,
		const std::string &	name,
		ParameterType	param_type = ParameterType::Dynamic
	)

Set a parameter to a dynamic parameter callback.

Parameters

setting	Parameter
name	Name of parameter
param_type	Type of parameter (dynamic or static)

Definition at line 239 of file parameters_handler.hpp.

Referenced by getParam().

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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