59 output <<
"localization_manager::Config { " << std::endl
60 <<
"fitness_score_degraded_threshold: " <<
c.fitness_score_degraded_threshold << std::endl
61 <<
"fitness_score_fault_threshold: " <<
c.fitness_score_fault_threshold << std::endl
62 <<
"ndt_frequency_degraded_threshold: " <<
c.ndt_frequency_degraded_threshold << std::endl
63 <<
"ndt_frequency_fault_threshold: " <<
c.ndt_frequency_fault_threshold << std::endl
64 <<
"auto_initialization_timeout: " <<
c.auto_initialization_timeout << std::endl
65 <<
"gnss_only_operation_timeout: " <<
c.gnss_only_operation_timeout << std::endl
66 <<
"sequential_timesteps_until_gps_operation: " <<
c.sequential_timesteps_until_gps_operation << std::endl
67 <<
"gnss_data_timeout: " <<
c.gnss_data_timeout << std::endl
68 <<
"localization_mode: " <<
static_cast<LocalizerMode>(
c.localization_mode) << std::endl
69 <<
"pose_pub_rate: " <<
c.pose_pub_rate << std::endl
70 <<
"x_offset: " <<
c.x_offset << std::endl
71 <<
"y_offset: " <<
c.y_offset << std::endl
72 <<
"z_offset: " <<
c.z_offset << std::endl
LocalizerMode
Enum describing the possible operational modes of the LocalizationManager.
Struct to store the configuration settings for the LocalizationManager class.
int gnss_only_operation_timeout
Timeout in ms for GNSS only operation. Ignored when in GNSS mode.
double fitness_score_fault_threshold
double fitness_score_degraded_threshold
NDT Fitness score above which the localization is considered in a degraded state.
int localization_mode
Localization mode to use.
double pose_pub_rate
Selected pose publication rate.
friend std::ostream & operator<<(std::ostream &output, const LocalizationManagerConfig &c)
int auto_initialization_timeout
double x_offset
GPS Offset to apply if that mode is enabled.
int gnss_data_timeout
GNSS Data timeout. If exceeded the system will assume the GNSS is no longer functional....
double ndt_frequency_fault_threshold
double ndt_frequency_degraded_threshold
NDT solution frequency below which the localization is considered in a degraded state.
int sequential_timesteps_until_gps_operation