rosparam_utilities

Aim

The package has been designed to speedup the get/set of data from/to the rosparam server.

Usage

Dependencies and Building

The package is based on eigen.

Class initialization and usage

The main functions are template that supports double, std::string, int, int32, int64, uint32, and std::vector<typename T>, std::vector<std::vector<typename T>>, Eigen::Matrix<,,> etc.

// 'what' stores warning(s) and error(s). The return is 'true' unless errors are raised. If default_val is different 
// from nullptr, the default value is superimposed in case the param is not found (a warning is stored, and the 
// true is returned)
template<typename T>
bool get(const std::string& key, T& ret, std::string& what, const T* default_val = nullptr);

template<typename T>
bool set(const std::string& key, const T& ret, std::string& what);

and, alternatively, the functions are provided with NodeHandle and XmlRpc

//======================================================================================================================
//== OLD FUNCTIONS BUT STILL ALIVE ======
//======================================================================================================================
template<typename T>
bool getParam(const ros::NodeHandle& nh,
                const std::string& key,
                  T& ret,
                    std::string& what,
                      const T* default_val = nullptr);

template<typename T>
bool setParam(const ros::NodeHandle& nh,
                const std::string& key,
                  const T& ret,
                    std::string& what);

template<class T>
bool getParam(const XmlRpc::XmlRpcValue& node, const std::string& key, T& ret, const std::string& log_key = "");

template<class T>
bool getParam(const XmlRpc::XmlRpcValue& node, T& ret, const std::string& log_key = "");
//======================================================================================================================

There are also a bunch of raw methods, that check the type and solve possibile problms when needed

//======================================================================================================================
//== EXCEPTION IF FAIL ===== OUTPUT PASSED AS ARGUMENT WITH REFERENCE
//======================================================================================================================
//! Overload DOUBLE (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, double& val);

//! Overload DOUBLE (SET)
void toXmlRpcValue(const double& t, XmlRpc::XmlRpcValue& xml_value);

//! Overload INT (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, int& val);

//! Overload INT (SET)
void toXmlRpcValue(const int& t, XmlRpc::XmlRpcValue& xml_value, const std::string& format = "dec");

//! Overload UNSIGNED INT (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, uint32_t& val);

//! Overload UNSIGNED INT (SET)
void toXmlRpcValue(uint32_t& val, const XmlRpc::XmlRpcValue& node);

//! Overload LONG UNSIGNED INT (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, uint64_t& val);

//! Overload UNSIGNED INT (SET)
void toXmlRpcValue(uint64_t& val, const XmlRpc::XmlRpcValue& node);

//! Overload BOOL (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, bool& val);

//! Overload BOOL (SET)
void toXmlRpcValue(const bool& t, XmlRpc::XmlRpcValue& xml_value);

//! Overload STRING (GET)
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, std::string& val);

//! Overload STRING (SET)
void toXmlRpcValue(const std::string& t, XmlRpc::XmlRpcValue& xml_value);

//! Overload to specialize on vector (GET)
template<typename T>
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, std::vector<T>& val);

//! Overload to specialize on vector (SET)
template<typename T>
void toXmlRpcValue(const std::vector<T>& val, XmlRpc::XmlRpcValue& node);

//! Overload to specialize on matrixes (GET)
template<typename T>
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, std::vector<std::vector<T>>& val);

//! Overload to specialize on matrixes (SET)
template<typename T>
void toXmlRpcValue(const std::vector<std::vector<T>>& val, XmlRpc::XmlRpcValue& node);

//! Overload to specialize on eigen vector/matrices (GET)
template<typename Derived>
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, Eigen::MatrixBase<Derived> const & val);

//! Overload to specialize on eigen vector/matrices (SET)
template<typename Derived>
void toXmlRpcValue(const Eigen::MatrixBase<Derived>& val, XmlRpc::XmlRpcValue& node);

//! Overload to specialize on std array (GET)
template<typename T, size_t n>
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, std::array<T, n>& val);

//! Overload to specialize on vector (SET)
template<typename T, size_t n>
void toXmlRpcValue(const std::array<T, n>& val, XmlRpc::XmlRpcValue& node);

//! Overload to specialize on boost array (GET)
template<typename T, size_t n>
void fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, boost::array<T, n>& val);

//! Overload to specialize on vector (SET)
template<typename T, size_t n>
void toXmlRpcValue(const boost::array<T, n>& val, XmlRpc::XmlRpcValue& node);
//======================================================================================================================

//======================================================================================================================
//=== RETURN TYPED VALUE EXCEPTION IF FAIL ===
//======================================================================================================================
//! Adds string for error tracking
template<typename T>
T fromXmlRpcValue(const XmlRpc::XmlRpcValue& node, const std::string& key = "", const std::string& log = "");

//! "Specialization" of template<typename T> T fromXmlRpcValue(...) for double
double toDouble(const XmlRpc::XmlRpcValue& node, const std::string& key = "", const std::string& log = "");

//! "Specialization" of template<typename T> T fromXmlRpcValue(...) for Int
int toInt(const XmlRpc::XmlRpcValue& node, const std::string& key = "", const std::string& log = "");

//! "Specialization" of template<typename T> T fromXmlRpcValue(...) for bool
bool toBool(const XmlRpc::XmlRpcValue& node, const std::string& key = "", const std::string& log = "");

//! "Specialization" of template<typename T> T fromXmlRpcValue(...) for string
std::string toString(const XmlRpc::XmlRpcValue& node, const std::string& key = "", const std::string& log = "");

Contact

<mailto:mailto:nicola.pedrocchi@stiima.cnr.it>

License