Struct to store the configuration settings for the LocalizationManager class. More...

#include <LocalizationManagerConfig.hpp>

Collaboration diagram for localization_manager::LocalizationManagerConfig:

Public Attributes
double	fitness_score_degraded_threshold = 20.0
	NDT Fitness score above which the localization is considered in a degraded state. More...

double	fitness_score_fault_threshold = 10000.0

double	ndt_frequency_degraded_threshold = 8.0
	NDT solution frequency below which the localization is considered in a degraded state. More...

double	ndt_frequency_fault_threshold = 0.66

int	auto_initialization_timeout = 30000

int	gnss_only_operation_timeout = 20000
	Timeout in ms for GNSS only operation. Ignored when in GNSS mode. More...

int	sequential_timesteps_until_gps_operation = 5

int	gnss_data_timeout = 500
	GNSS Data timeout. If exceeded the system will assume the GNSS is no longer functional. Units are ms. More...

int	localization_mode = static_cast<int>(LocalizerMode::AUTO_WITHOUT_TIMEOUT)
	Localization mode to use. More...

double	pose_pub_rate = 10.0
	Selected pose publication rate. More...

double	x_offset = 2.8
	GPS Offset to apply if that mode is enabled. More...

double	y_offset = -2.1

double	z_offset = 0.0

Friends
std::ostream &	operator<< (std::ostream &output, const LocalizationManagerConfig &c)

Detailed Description

Struct to store the configuration settings for the LocalizationManager class.

Definition at line 24 of file LocalizationManagerConfig.hpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	output,
		const LocalizationManagerConfig &	c
	)

friend

Definition at line 57 of file LocalizationManagerConfig.hpp.

        {
            output << "localization_manager::Config { " << std::endl
                   << "fitness_score_degraded_threshold: " << c.fitness_score_degraded_threshold << std::endl
                   << "fitness_score_fault_threshold: " << c.fitness_score_fault_threshold << std::endl
                   << "ndt_frequency_degraded_threshold: " << c.ndt_frequency_degraded_threshold << std::endl
                   << "ndt_frequency_fault_threshold: " << c.ndt_frequency_fault_threshold << std::endl
                   << "auto_initialization_timeout: " << c.auto_initialization_timeout << std::endl
                   << "gnss_only_operation_timeout: " << c.gnss_only_operation_timeout << std::endl
                   << "sequential_timesteps_until_gps_operation: " << c.sequential_timesteps_until_gps_operation << std::endl
                   << "gnss_data_timeout: " << c.gnss_data_timeout << std::endl
                   << "localization_mode: " << static_cast<LocalizerMode>(c.localization_mode) << std::endl
                   << "pose_pub_rate: " << c.pose_pub_rate << std::endl
                   << "x_offset: " << c.x_offset << std::endl
                   << "y_offset: " << c.y_offset << std::endl
                   << "z_offset: " << c.z_offset << std::endl
                   << "}" << std::endl;
            return output;
        }

Member Data Documentation

◆ auto_initialization_timeout

int localization_manager::LocalizationManagerConfig::auto_initialization_timeout = 30000

Timeout in ms for auto initialization. If initialization cannot be completed in this time user action will be requested.

Definition at line 38 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::stateTransitionCallback().

◆ fitness_score_degraded_threshold

double localization_manager::LocalizationManagerConfig::fitness_score_degraded_threshold = 20.0

NDT Fitness score above which the localization is considered in a degraded state.

Definition at line 27 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::poseAndStatsCallback().

◆ fitness_score_fault_threshold

double localization_manager::LocalizationManagerConfig::fitness_score_fault_threshold = 10000.0

NDT Fitness score above which the localization is considered in a fault state and NDT matching can no longer be used.

Definition at line 30 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::poseAndStatsCallback().

◆ gnss_data_timeout

int localization_manager::LocalizationManagerConfig::gnss_data_timeout = 500

GNSS Data timeout. If exceeded the system will assume the GNSS is no longer functional. Units are ms.

Definition at line 45 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::posePubTick().

◆ gnss_only_operation_timeout

int localization_manager::LocalizationManagerConfig::gnss_only_operation_timeout = 20000

Timeout in ms for GNSS only operation. Ignored when in GNSS mode.

Definition at line 40 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::stateTransitionCallback().

◆ localization_mode

int localization_manager::LocalizationManagerConfig::localization_mode = static_cast<int>(LocalizerMode::AUTO_WITHOUT_TIMEOUT)

Localization mode to use.

Definition at line 47 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::LocalizationManager::poseAndStatsCallback(), and localization_manager::LocalizationManager::posePubTick().

◆ ndt_frequency_degraded_threshold

double localization_manager::LocalizationManagerConfig::ndt_frequency_degraded_threshold = 8.0

NDT solution frequency below which the localization is considered in a degraded state.

Definition at line 32 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::LocalizationManager::computeNDTFreq(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), localization_manager::LocalizationManager::poseAndStatsCallback(), and localization_manager::LocalizationManager::posePubTick().

◆ ndt_frequency_fault_threshold

double localization_manager::LocalizationManagerConfig::ndt_frequency_fault_threshold = 0.66

NDT solution frequency below which the localization is considered in a fault state and NDT matching can no longer be used.

Definition at line 35 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::LocalizationManager::computeNDTFreq(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), localization_manager::LocalizationManager::poseAndStatsCallback(), and localization_manager::LocalizationManager::posePubTick().

◆ pose_pub_rate

double localization_manager::LocalizationManagerConfig::pose_pub_rate = 10.0

Selected pose publication rate.

Definition at line 49 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), and localization_manager::Node::parameter_update_callback().

◆ sequential_timesteps_until_gps_operation

int localization_manager::LocalizationManagerConfig::sequential_timesteps_until_gps_operation = 5

Integer: Maximum allowed number of sequential timesteps to let lidar initialize before switching to GPS only mode NOTE: Only used in GNSS only with NDT initialization mode

Definition at line 43 of file LocalizationManagerConfig.hpp.

Referenced by localization_manager::Node::Node(), localization_manager::Node::handle_on_configure(), localization_manager::Node::parameter_update_callback(), and localization_manager::LocalizationManager::poseAndStatsCallback().