<commit_before>/// HEADER
#include "static_transform.h"

/// COMPONENT
#include <csapex_transform/transform_message.h>

/// PROJECT
#include <csapex/param/parameter_factory.h>
#include <csapex/utility/register_apex_plugin.h>
#include <csapex/model/node_modifier.h>
#include <csapex/msg/io.h>

/// SYSTEM
#include <tf/transform_datatypes.h>

CSAPEX_REGISTER_CLASS(csapex::StaticTransform, csapex::Node)

using namespace csapex;

StaticTransform::StaticTransform()
{
}

void StaticTransform::setupParameters(Parameterizable &parameters)
{
//    double p = 3.2;
    double d = 5.0;

    parameters.addParameter(csapex::param::ParameterFactory::declareText("frame", "/base_link"), frame);
    parameters.addParameter(csapex::param::ParameterFactory::declareText("child_frame", "/marlin"), child_frame);

    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("roll", 0.0), roll);
    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("pitch", 0.0), pitch);
    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("yaw", 0.0), yaw);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dx", -d, d, 0.0, 0.01), x);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dy", -d, d, 0.0, 0.01), y);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dz", -d, d, 0.0, 0.01), z);
}

void StaticTransform::process()
{

}

void StaticTransform::tick()
{
    connection_types::TransformMessage::Ptr msg(new connection_types::TransformMessage);
    msg->value = tf::Transform(tf::createQuaternionFromRPY(roll, pitch, yaw), tf::Vector3(x, y, z));
    msg->frame_id = frame;
    msg->child_frame = child_frame;
    msg::publish(output_, msg);
}


void StaticTransform::setup(NodeModifier& node_modifier)<commit_msg>increased precision in static transform<commit_after>/// HEADER
#include "static_transform.h"

/// COMPONENT
#include <csapex_transform/transform_message.h>

/// PROJECT
#include <csapex/param/parameter_factory.h>
#include <csapex/utility/register_apex_plugin.h>
#include <csapex/model/node_modifier.h>
#include <csapex/msg/io.h>

/// SYSTEM
#include <tf/transform_datatypes.h>

CSAPEX_REGISTER_CLASS(csapex::StaticTransform, csapex::Node)

using namespace csapex;

StaticTransform::StaticTransform()
{
}

void StaticTransform::setupParameters(Parameterizable &parameters)
{
//    double p = 3.2;
    double d = 5.0;

    parameters.addParameter(csapex::param::ParameterFactory::declareText("frame", "/base_link"), frame);
    parameters.addParameter(csapex::param::ParameterFactory::declareText("child_frame", "/marlin"), child_frame);

    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("roll", 0.0), roll);
    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("pitch", 0.0), pitch);
    parameters.addParameter(csapex::param::ParameterFactory::declareAngle("yaw", 0.0), yaw);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dx", -d, d, 0.0, 0.001), x);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dy", -d, d, 0.0, 0.001), y);
    parameters.addParameter(csapex::param::ParameterFactory::declareRange("dz", -d, d, 0.0, 0.001), z);
}

void StaticTransform::process()
{

}

void StaticTransform::tick()
{
    connection_types::TransformMessage::Ptr msg(new connection_types::TransformMessage);
    msg->value = tf::Transform(tf::createQuaternionFromRPY(roll, pitch, yaw), tf::Vector3(x, y, z));
    msg->frame_id = frame;
    msg->child_frame = child_frame;
    msg::publish(output_, msg);
}


void StaticTransform::setup(NodeModifier& node_modifier)
{'fraction_non_alphanumeric': 0.1621768707482993, 'fraction_numerical': 0.014965986394557823, 'mean_word_length': 6.674321503131524, 'pattern_counts': {'":': 0, '<': 15, '<?xml version=': 0, '>': 21, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4614102', 'n_tokens_mistral': 1266, 'n_tokens_neox': 1198, 'n_words': 183}