给下列程序添加注释： void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } if ( ! setup_) { default_config_ = config; setup_ = true; } // update generic local planner params base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; planner_util_.reconfigureCB(limits, config.restore_defaults); // update dwa specific configuration dp_->reconfigure(config); }

/**
* @brief Callback function for dynamic reconfiguration of DWA planner parameters
*
* @param config Reference to the configuration object that stores the updated parameters
* @param level The level of reconfiguration, unused in this function
*/
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {

// If the setup has been completed and restore_defaults flag is set, restore default configuration
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}

// If setup has not been completed, store default configuration and set the setup flag to true
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}

// Update generic local planner parameters
base_local_planner::LocalPlannerLimits limits;
limits.max_vel_trans = config.max_vel_trans;
limits.min_vel_trans = config.min_vel_trans;
limits.max_vel_x = config.max_vel_x;
limits.min_vel_x = config.min_vel_x;
limits.max_vel_y = config.max_vel_y;
limits.min_vel_y = config.min_vel_y;
limits.max_vel_theta = config.max_vel_theta;
limits.min_vel_theta = config.min_vel_theta;
limits.acc_lim_x = config.acc_lim_x;
limits.acc_lim_y = config.acc_lim_y;
limits.acc_lim_theta = config.acc_lim_theta;
limits.acc_lim_trans = config.acc_lim_trans;
limits.xy_goal_tolerance = config.xy_goal_tolerance;
limits.yaw_goal_tolerance = config.yaw_goal_tolerance;
limits.prune_plan = config.prune_plan;
limits.trans_stopped_vel = config.trans_stopped_vel;
limits.theta_stopped_vel = config.theta_stopped_vel;

// Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag
planner_util_.reconfigureCB(limits, config.restore_defaults);

// Call reconfigure function of the dp_ object with updated configuration
dp_->reconfigure(config);
}