From 55d07f058eca2b62cf352f075840dfb16ce3c2dc Mon Sep 17 00:00:00 2001
From: tutuna <tutuna@leggedrobotics.com>
Date: Fri, 13 Dec 2024 22:08:28 +0100
Subject: [PATCH] API change

---
 include/rms/rms.h |  4 +++-
 src/rms.cpp       | 23 +++++++++++++++++++----
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/include/rms/rms.h b/include/rms/rms.h
index 70f9d55..f476e88 100644
--- a/include/rms/rms.h
+++ b/include/rms/rms.h
@@ -37,6 +37,8 @@ class RMS {
 public:
   RMS(mrs_lib::ParamLoader& param_loader);
   void sample(sensor_msgs::PointCloud2::Ptr& msg_inout);
+  void setLambda(float& lambda);
+  void setRMSVoxelSize(float& voxelSize);
 
   // | --------------- ROS and conversion methods --------------- |
 private:
@@ -46,7 +48,7 @@ class RMS {
   // | ---------------- RMS variables and methods --------------- |
 private:
   size_t _K            = 10;
-  float  _lambda       = 1.0f;
+  float  _lambda       = -1.0f;
   float  _voxel_input  = -1.0f;
   float  _voxel_output = -1.0f;
 
diff --git a/src/rms.cpp b/src/rms.cpp
index f4690e2..47f0fc4 100644
--- a/src/rms.cpp
+++ b/src/rms.cpp
@@ -6,13 +6,28 @@ namespace rms
 
 /*//{ RMS() constructor */
 RMS::RMS(mrs_lib::ParamLoader &param_loader) {
-  _K = size_t(param_loader.loadParamReusable2<int>("K"));
-  param_loader.loadParam<float>("lambda", _lambda);
-  param_loader.loadParam<float>("voxelization/input", _voxel_input);
-  param_loader.loadParam<float>("voxelization/output", _voxel_output);
+  // _K = size_t(param_loader.loadParamReusable2<int>("K"));
+  // param_loader.loadParam<float>("lambda", _lambda);
+  // param_loader.loadParam<float>("voxelization/input", _voxel_input);
+  // param_loader.loadParam<float>("voxelization/output", _voxel_output);
+
+  _K = 10;
+  // _lambda= 0.005; //0.004
+  // _voxel_input = 0.4;
+  // _voxel_output = 0.4;
+
 }
 /*//}*/
 
+void RMS::setLambda(float& lambda) {
+  _lambda = lambda;
+}
+
+void RMS::setRMSVoxelSize(float& voxelSize) {
+  _voxel_input = voxelSize;
+  _voxel_output = voxelSize;
+}
+
 /*//{ sample() */
 void RMS::sample(sensor_msgs::PointCloud2::Ptr &msg_inout) {