parameters.cpp

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#include "config/parameters.hpp"
 
std::string VEParameters::load_config() {
  std::string global_config_path = common_lib::config_load::get_config_yaml_path(
      "velocity_estimation", "global", "global_config");
 
  YAML::Node global_config = YAML::LoadFile(global_config_path);
 
  std::string adapter = global_config["global"]["adapter"].as<std::string>();
 
  std::string ve_config_path = common_lib::config_load::get_config_yaml_path(
      "velocity_estimation", "velocity_estimation", adapter);
 
  YAML::Node ve_config = YAML::LoadFile(ve_config_path);
 
  std::string car_config_par =
      common_lib::config_load::get_config_yaml_path("velocity_estimation", "car", adapter);
 
  YAML::Node car_config = YAML::LoadFile(car_config_par);
 
  this->_estimation_method_ =
      ve_config["velocity_estimation"]["estimation_method"].as<std::string>();
  this->_ve_observation_model_name_ =
      ve_config["velocity_estimation"]["ve_observation_model_name"].as<std::string>();
  this->_process_model_name_ =
      ve_config["velocity_estimation"]["process_model_name"].as<std::string>();
  this->imu_acceleration_noise_ =
      ve_config["velocity_estimation"]["imu_acceleration_noise"].as<double>();
  this->imu_rotational_noise_ =
      ve_config["velocity_estimation"]["imu_rotational_noise"].as<double>();
  this->angular_velocity_process_noise_ =
      ve_config["velocity_estimation"]["angular_velocity_process_noise"].as<double>();
  this->wheel_speed_noise_ = ve_config["velocity_estimation"]["wheel_speed_noise"].as<double>();
  this->steering_angle_noise_ =
      ve_config["velocity_estimation"]["steering_angle_noise"].as<double>();
  this->motor_rpm_noise_ = ve_config["velocity_estimation"]["motor_rpm_noise"].as<double>();
 
  return adapter;
}