[RST-2186] Added a FixedLagSmootherParams struct #68
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svwilliams
commented
Jun 24, 2019
| &FixedLagSmoother::optimizerTimerCallback, | ||
| this); | ||
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| // Advertise a service that resets the optimizer to its initial state | ||
| reset_service_server_ = private_node_handle_.advertiseService("reset", &FixedLagSmoother::resetServiceCallback, this); | ||
| reset_service_server_ = node_handle_.advertiseService( |
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This switch from private_node_handle_ to node_handle_ is intentional. It is in the spirit of locusrobotics/fuse_rl#10
matthewbwhitaker
approved these changes
Jun 25, 2019
| std::string reset_service { "reset" }; | ||
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| /** | ||
| * @brief The maximum time to wait for motion models to be generated for a received transactions. |
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"a received transaction" or "received transactions"?
| /** | ||
| * @brief The maximum time to wait for motion models to be generated for a received transactions. | ||
| * | ||
| * Transactions are processes sequentially, so no new transactions will be added to the graph while waiting for |
ayrton04
approved these changes
Jun 26, 2019
| * @param[in] default_value - A default value to use if the provided parameter name does not exist | ||
| * @return The loaded (or default) value | ||
| */ | ||
| double getPositiveParam(const ros::NodeHandle& node_handle, const std::string& parameter_name, double default_value) |
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Not for this PR, but if we can't release some of our internal utility methods like this, we should consider adding some of them to a utility header in this package.
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Added a FixedLagSmootherParams struct that is responsible for holding and loading all of the Fixed-lag Smoother settings.
This currently does not include the set of parameters loaded and used by the Optimizer base class. A future PR will make an OptimizerParams base class that loads the common parameters.