node_handle.hpp

Go to the documentation of this file.

#pragma once
 
#include <memory>
#include <string>
 
#include <ros/node_handle.h>
#include <XmlRpcValue.h>
 
#include <cras_cpp_common/param_utils/get_param_adapter.hpp>
 
namespace cras
{
 
struct NodeHandleGetParamAdapter : public ::cras::GetParamAdapter
{
public:
  explicit NodeHandleGetParamAdapter(const ::ros::NodeHandle &nh) noexcept;
  ~NodeHandleGetParamAdapter() override;
 
  bool getParam(const ::std::string& name, ::XmlRpc::XmlRpcValue& v) const noexcept override;
  ::std::string getNamespace() const noexcept override;
  bool hasParam(const ::std::string& name) const noexcept override;
  ::std::shared_ptr<::cras::GetParamAdapter> getNamespaced(const ::std::string &ns) const noexcept(false) override;
 
protected:
  ros::NodeHandle nh;
};
 
}