Source Code for Module intera_interface.cfg.SawyerPositionFFJointTrajectoryActionServerConfig

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42   
43  from dynamic_reconfigure.encoding import extract_params 
44   
45  inf = float('inf') 
46   
47  config_description = {'upper': 'DEFAULT', 'lower': 'groups', 'srcline': 233, 'name': 'Default', 'parent': 0, 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'cstate': 'true', 'parentname': 'Default', 'class': 'DEFAULT', 'field': 'default', 'state': True, 'parentclass': '', 'groups': [], 'parameters': [{'srcline': 262, 'description': 'Amount of time (s) controller is permitted to be late achieving goal', 'max': 120.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'goal_time', 'edit_method': '', 'default': 0.1, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 262, 'description': 'Maximum velocity (m/s) at end of trajectory to be considered stopped', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'stopped_velocity_tolerance', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -1.0, 'type': 'double'}, {'srcline': 262, 'description': 'right_j0 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j0_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j1 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j1_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j2 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j2_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j3 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j3_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j4 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j4_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j5 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j5_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j6 - maximum final error', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j6_goal', 'edit_method': '', 'default': -0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j0 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j0_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j1 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j1_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j2 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j2_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j3 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j3_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j4 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j4_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j5 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j5_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}, {'srcline': 262, 'description': 'right_j6 - maximum error during trajectory execution', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'right_j6_trajectory', 'edit_method': '', 'default': 0.2, 'level': 0, 'min': -0.5, 'type': 'double'}], 'type': '', 'id': 0} 
48   
49  min = {} 
50  max = {} 
51  defaults = {} 
52  level = {} 
53  type = {} 
54  all_level = 0 
55   
56  #def extract_params(config): 
57  #    params = [] 
58  #    params.extend(config['parameters'])     
59  #    for group in config['groups']: 
60  #        params.extend(extract_params(group)) 
61  #    return params 
62   
63  for param in extract_params(config_description): 
64      min[param['name']] = param['min'] 
65      max[param['name']] = param['max'] 
66      defaults[param['name']] = param['default'] 
67      level[param['name']] = param['level'] 
68      type[param['name']] = param['type'] 
69      all_level = all_level | param['level'] 
70