parameter_handler.hpp

// Copyright (c) 2022 Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_NAVFN_PLANNER__PARAMETER_HANDLER_HPP_
#define NAV2_NAVFN_PLANNER__PARAMETER_HANDLER_HPP_
 
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <mutex>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_util/parameter_handler.hpp"
#include "nav2_ros_common/node_utils.hpp"
 
namespace nav2_navfn_planner
{
 
struct Parameters
{
   // Whether or not the planner should be allowed to plan through unknown space
  bool allow_unknown;
  bool use_final_approach_orientation;
  // If the goal is obstructed, the tolerance specifies how many meters the planner
  // can relax the constraint in x and y before failing
  double tolerance;
  // Whether to use the astar planner or default dijkstras
  bool use_astar;
  // Integer factor applied to the largest costmap dimension to limit path extraction cycles
  int max_cycles_factor;
};
 
class ParameterHandler : public nav2_util::ParameterHandler<Parameters>
{
public:
  ParameterHandler(
    const nav2::LifecycleNode::SharedPtr & node,
    std::string & plugin_name,
    rclcpp::Logger & logger);
 
protected:
  void
  updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters) override;
 
  rcl_interfaces::msg::SetParametersResult
  validateParameterUpdatesCallback(const std::vector<rclcpp::Parameter> & parameters) override;
 
  std::string plugin_name_;
};
 
}  // namespace nav2_navfn_planner
 
#endif  // NAV2_NAVFN_PLANNER__PARAMETER_HANDLER_HPP_