move to member function

PickNikRobotics · Jul 25, 2024 · 0a7b708 · 0a7b708
1 parent 6897fd1
commit 0a7b708
Showing 1 changed file with 23 additions and 23 deletions.
diff --git a/..._library_py/generate_parameter_library_py/jinja_templates/python/parameter_library_header b/..._library_py/generate_parameter_library_py/jinja_templates/python/parameter_library_header
@@ -15,29 +15,7 @@ from generate_parameter_library_py.python_validators import ParameterValidators
 
 {% if user_validation_file|length -%}
 import {{user_validation_file}} as custom_validators
-{% endif -%}
-
-def unpack_parameter_dict(namespace: str, parameter_dict: dict):
-    """
-    Flatten a parameter dictionary recursively.
-
-    :param namespace: The namespace to prepend to the parameter names.
-    :param parameter_dict: A dictionary of parameters keyed by the parameter names
-    :return: A list of rclpy Parameter objects
-    """
-    parameters = []
-    for param_name, param_value in parameter_dict.items():
-        full_param_name = namespace + param_name
-        # Unroll nested parameters
-        if isinstance(param_value, dict):
-            nested_params = unpack_parameter_dict(
-                    namespace=full_param_name + rclpy.parameter.PARAMETER_SEPARATOR_STRING,
-                    parameter_dict=param_value)
-            parameters.extend(nested_params)
-        else:
-            parameters.append(rclpy.parameter.Parameter(full_param_name, value=param_value))
-    return parameters
-
+{% endif %}
 
 class {{namespace}}:
 {%- filter indent(width=4) %}
@@ -76,6 +54,28 @@ stamp_ = Time()
         def is_old(self, other_param):
             return self.params_.stamp_ != other_param.stamp_
 
+        @staticmethod
+        def unpack_parameter_dict(namespace: str, parameter_dict: dict):
+            """
+            Flatten a parameter dictionary recursively.
+
+            :param namespace: The namespace to prepend to the parameter names.
+            :param parameter_dict: A dictionary of parameters keyed by the parameter names
+            :return: A list of rclpy Parameter objects
+            """
+            parameters = []
+            for param_name, param_value in parameter_dict.items():
+                full_param_name = namespace + param_name
+                # Unroll nested parameters
+                if isinstance(param_value, dict):
+                    nested_params = unpack_parameter_dict(
+                            namespace=full_param_name + rclpy.parameter.PARAMETER_SEPARATOR_STRING,
+                            parameter_dict=param_value)
+                    parameters.extend(nested_params)
+                else:
+                    parameters.append(rclpy.parameter.Parameter(full_param_name, value=param_value))
+            return parameters
+
         def set_params_from_dict(self, param_dict):
             params_to_set = unpack_parameter_dict('', param_dict)
             self.update(params_to_set)