2015-05-27 17:41:33 +00:00
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#!/usr/bin/env python
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2015-09-16 17:19:00 +00:00
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# -*- encoding: utf-8 -*-
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2015-08-21 18:39:01 +00:00
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# Copyright (C) 2015 CentraleSupélec
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# All rights reserved
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2015-05-27 14:09:19 +00:00
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PACKAGE = "hand_control"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
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2015-05-28 19:53:07 +00:00
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gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
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2015-06-03 17:19:15 +00:00
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gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
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2015-05-27 14:09:19 +00:00
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gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
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2015-06-03 17:19:15 +00:00
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gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
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gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
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2015-05-27 14:09:19 +00:00
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gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
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2015-05-28 19:53:07 +00:00
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gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
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gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
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2015-06-03 17:19:15 +00:00
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gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
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gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
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gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
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2015-06-09 15:00:45 +00:00
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gen.add("no_diag", bool_t, 0, "Drone cannot translate on a diagonal direction", True)
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2015-05-27 20:27:57 +00:00
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exit(gen.generate(PACKAGE, "hand_control", "Commander"))
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