#!/usr/bin/env python
# -*- encoding: utf-8 -*-

# Copyright © 2015 CentraleSupélec
# 
# This file is part of Hand Control.
# 
# Hand Control is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# 
# Hand Control is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
# 
# You should have received a copy of the GNU General Public License
# along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.

PACKAGE = "hand_control"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
gen.add("no_diag", bool_t, 0, "Drone cannot translate on a diagonal direction", True)
exit(gen.generate(PACKAGE, "hand_control", "Commander"))