[Personalrobots-commit] SF.net SVN: personalrobots:[12988] pkg/trunk

[<tf...@us...>]

Revision: 12988
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12988&view=rev
Author:   tfoote
Date:     2009-03-25 23:51:37 +0000 (Wed, 25 Mar 2009)

Log Message:
-----------
making it easier to configure from a parameter

Modified Paths:
--------------
    pkg/trunk/prcore/filters/include/filters/filter_chain.h
    pkg/trunk/util/laser_scan/src/generic_laser_filter_node.cpp

Modified: pkg/trunk/prcore/filters/include/filters/filter_chain.h
===================================================================
--- pkg/trunk/prcore/filters/include/filters/filter_chain.h	2009-03-25 22:36:23 UTC (rev 12987)
+++ pkg/trunk/prcore/filters/include/filters/filter_chain.h	2009-03-25 23:51:37 UTC (rev 12988)
@@ -104,7 +104,6 @@
     }
 
 
-
     /********************** Do the allocation *********************/
     buffer0_.resize(size);
     buffer1_.resize(size);
@@ -153,7 +152,19 @@
     return result;
   };
 
+  /**@brief Configure the filter from xml stored on the parameter server
+   * This is simply a convienience function for this is the recommended way to setup filters*/
+  bool configureFromXMLString(unsigned int size, std::string filter_xml)
+  {
+    TiXmlDocument xml_doc;
+    xml_doc.Parse(filter_xml.c_str());
+    TiXmlElement * config = xml_doc.RootElement();
+      
+    return this->configure(1, config);
 
+  };
+
+
   /** \brief Clear all filters from this chain */
   bool clear() 
   {

Modified: pkg/trunk/util/laser_scan/src/generic_laser_filter_node.cpp
===================================================================
--- pkg/trunk/util/laser_scan/src/generic_laser_filter_node.cpp	2009-03-25 22:36:23 UTC (rev 12987)
+++ pkg/trunk/util/laser_scan/src/generic_laser_filter_node.cpp	2009-03-25 23:51:37 UTC (rev 12988)
@@ -44,15 +44,13 @@
 
   MedianFilterNode(ros::Node& anode) :  filter_chain_(), node_(anode)
   {
-    std::string filter_xml;
     node_.advertise<laser_scan::LaserScan>("~output", 1000);
-    node_.param("~filters", filter_xml, median_filter_xml);
-    ROS_INFO("Got ~filters as: %s\n", filter_xml.c_str());
-    TiXmlDocument xml_doc;
-    xml_doc.Parse(filter_xml.c_str());
-    TiXmlElement * config = xml_doc.RootElement();
 
-    filter_chain_.configure(1, config);
+    std::string filter_xml;
+    node_.param("~filters", filter_xml, std::string("<filters><!--Filter Parameter Not Set--></filters>"));
+    ROS_INFO("Got parameter'~filters' as: %s\n", filter_xml.c_str());
+    
+    filter_chain_.configureFromXMLString(1, filter_xml);
     node_.subscribe("scan_in", msg, &MedianFilterNode::callback,this, 3);
   }
   void callback()


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