message_with_metadata.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00040 #ifndef MONGO_ROS_MESSAGE_WITH_METADATA_H 00041 #define MONGO_ROS_MESSAGE_WITH_METADATA_H 00042 00043 #include <mongo_ros/metadata.h> 00044 00045 namespace mongo_ros 00046 { 00047 00048 00049 /************************************************************ 00050 * MessageWithMetadata 00051 ***********************************************************/ 00052 00053 00057 template <class M> 00058 struct MessageWithMetadata : public M 00059 { 00060 MessageWithMetadata (const Metadata& metadata, 00061 const M& msg = M()) : 00062 M(msg), metadata(metadata) 00063 { 00064 } 00065 00066 MessageWithMetadata (const mongo::BSONObj& metadata, 00067 const M& msg = M()) : 00068 M(msg), metadata(metadata) 00069 {} 00070 00071 MessageWithMetadata (const MessageWithMetadata& m) : 00072 M(m), metadata(m.metadata) 00073 {} 00074 00075 MessageWithMetadata () 00076 {} 00077 00078 mongo::BSONObj metadata; 00079 00080 std::string lookupString (const std::string& name) const 00081 { 00082 return metadata.getStringField(name.c_str()); 00083 } 00084 00085 double lookupDouble (const std::string& name) const 00086 { 00087 double d; 00088 metadata[name.c_str()].Val(d); 00089 return d; 00090 } 00091 00092 int lookupInt (const std::string& name) const 00093 { 00094 return metadata.getIntField(name.c_str()); 00095 } 00096 00097 bool lookupBool (const std::string& name) const 00098 { 00099 return metadata.getBoolField(name.c_str()); 00100 } 00101 00102 typedef boost::shared_ptr<MessageWithMetadata<M> > Ptr; 00103 typedef boost::shared_ptr<MessageWithMetadata<M> const> ConstPtr; 00104 }; 00105 00106 00107 } // namespace 00108 00109 #endif // include guard