def sendParams( self ):
msg = FootstepPlannerParams()
msg.change_mask = 0
if self.step_cost_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x001
if self.collision_check_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x010
if self.foot_size_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x020
if self.upper_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x040
if self.std_step_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x080
if self.terrain_model_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x100
### STEP_COST_ESTIMATOR ########
msg.step_cost_type = self.step_cost_combobox.currentIndex()
# #HARD ### FOOTSTEP_SET ########
# # parameters for discret footstep planning mode
# vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad))
# float32[] footstep_cost # cost for each footstep given in footstep set
#
# #HARD ### LOAD_GPR_STEP_COST ########
# # map step cost file
# std_msgs/String map_step_cost_file
#
# #HARD ### LOAD_MAP_STEP_COST ########
# # destination of gpr file
# std_msgs/String gpr_step_cost_file
### COLLISION_CHECK_TYPE ########
msg.collision_check_type = 0
if self.collision_check_feet_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x01
if self.collision_check_ub_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x02
if self.collision_check_fc_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x04
### FOOT_SIZE ########
msg.foot_size.x = self.foot_size_x.value()
msg.foot_size.y = self.foot_size_y.value()
msg.foot_size.z = self.foot_size_z.value()
msg.foot_origin_shift.x = self.foot_shift_x.value()
msg.foot_origin_shift.y = self.foot_shift_y.value()
msg.foot_origin_shift.z = self.foot_shift_z.value()
### UPPER_BODY_SIZE ########
msg.upper_body_size.x = self.upper_size_x.value()
msg.upper_body_size.y = self.upper_size_y.value()
msg.upper_body_size.z = self.upper_size_z.value()
msg.upper_body_origin_shift.x = self.upper_origin_x.value()
msg.upper_body_origin_shift.y = self.upper_origin_y.value()
msg.upper_body_origin_shift.z = self.upper_origin_z.value()
### TERRAIN_MODEL ########
msg.use_terrain_model = self.terrain_model_checkbox.isChecked()
msg.min_sampling_steps_x = self.terrain_min_ssx_val.value()
msg.min_sampling_steps_y = self.terrain_min_ssy_val.value()
msg.max_sampling_steps_x = self.terrain_max_ssx_val.value()
msg.max_sampling_steps_y = self.terrain_max_ssy_val.value()
msg.max_intrusion_z = self.terrain_max_iz_val.value()
msg.max_ground_clearance = self.terrain_max_gc_val.value()
msg.minimal_support = self.terrain_ms_val.value()
### STANDARD_STEP_PARAMS ########
msg.foot_seperation = self.foot_sep_val.value()
msg.step_duration = self.std_step_step_duration_val.value()
msg.sway_duration = self.std_step_sway_duration_val.value()
msg.swing_height = self.std_step_swing_height_val.value()
msg.lift_height = self.std_step_lift_height_val.value()
print msg
self.param_pub.publish( msg )
def getParams( self ):
msg = FootstepPlannerParams()
msg.change_mask = 0
self.param_pub.publish( msg )
