nav2_graceful_controller::ParameterHandler Class Reference

Handles parameters and dynamic parameters for GracefulMotionController. More...

#include <nav2_graceful_controller/include/nav2_graceful_controller/parameter_handler.hpp>

Collaboration diagram for nav2_graceful_controller::ParameterHandler:

Public Member Functions
	ParameterHandler (nav2::LifecycleNode::SharedPtr node, std::string &plugin_name, rclcpp::Logger &logger, const double costmap_size_x)
	Constructor for nav2_graceful_controller::ParameterHandler.
	~ParameterHandler ()
	Destructor for nav2_graceful_controller::ParameterHandler.
std::mutex &	getMutex ()
Parameters *	getParams ()
void	activate ()
	Registers callbacks for dynamic parameter handling.
void	deactivate ()
	Resets callbacks for dynamic parameter handling.

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (std::vector< rclcpp::Parameter > parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...
void	updateParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

Protected Attributes
nav2::LifecycleNode::WeakPtr	node_
std::mutex	mutex_
rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_
Parameters	params_
std::string	plugin_name_
rclcpp::Logger	logger_ {rclcpp::get_logger("GracefulMotionController")}

Detailed Description

Handles parameters and dynamic parameters for GracefulMotionController.

Definition at line 62 of file parameter_handler.hpp.

Member Function Documentation

updateParametersCallback()

void nav2_graceful_controller::ParameterHandler::updateParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters

List of parameters that have been updated.

Definition at line 189 of file parameter_handler.cpp.

Referenced by activate().

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validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_graceful_controller::ParameterHandler::validateParameterUpdatesCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters

List of parameters that are being updated.

Returns

rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 149 of file parameter_handler.cpp.

Referenced by activate().

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

• nav2_graceful_controller/include/nav2_graceful_controller/parameter_handler.hpp
• nav2_graceful_controller/src/parameter_handler.cpp