Function condParam

include/patchwork/patchwork.hpp:37–57

// locations
template <typename T>
bool condParam(ros::NodeHandle *nh,
               const std::string &param_name,
               T &param_val,
               const T &default_val,
               const std::string &prefix = "/patchwork") {
  if (nh->hasParam(prefix + "/" + param_name)) {
    if (nh->getParam(prefix + "/" + param_name, param_val)) {
      ROS_INFO_STREAM("param '" << prefix << "/" << param_name << "' -> '" << param_val << "'");
      return true;
    }
  } else if (nh->hasParam(ros::this_node::getName() + "/" + param_name)) {
    if (nh->getParam(ros::this_node::getName() + "/" + param_name, param_val)) {
      ROS_INFO_STREAM("param '" << ros::this_node::getName() << "/" << param_name << "' -> '"
                                << param_val << "'");
      return true;
    }
  }
  param_val = default_val;
  ROS_INFO_STREAM("param '" << param_name << "' -> '" << param_val << "' (default)");
  return false;
}

#define NUM_HEURISTIC_MAX_PTS_IN_PATCH 3000
#define MARKER_Z_VALUE -2.2