ompl_ros_planner_config.h

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#ifndef OMPL_PLANNER_CONFIG_
#define OMPL_PLANNER_CONFIG_

#include <boost/shared_ptr.hpp>
#include <string>
#include <map>
#include <vector>

#include <ros/ros.h>

namespace ompl_ros_interface
{
class PlannerConfig
{
public:
  PlannerConfig(const std::string &description, const std::string &config) : description_(description), config_(config)
  {
  }
  
  ~PlannerConfig(void)
  {
  }
  
  const std::string& getName(void);

  bool        hasParam(const std::string &param);

  std::string getParamString(const std::string &param, const std::string &def = "");

  double      getParamDouble(const std::string &param, double def);

  int         getParamInt(const std::string &param, int def);
  
private:
  
  std::string     description_;
  std::string     config_;
  ros::NodeHandle nh_;    
};

class PlannerConfigMap
{
public:
  
  PlannerConfigMap(std::string description) :
    description_(description)
  {
  }
  
  ~PlannerConfigMap(void)
  {
  }

  void loadPlannerConfigs();

  std::vector< boost::shared_ptr<PlannerConfig> > getGroupPlannersConfig(const std::string &group) const;

public:
  std::string description_; 
  std::map<std::string, std::vector<std::string> > group_to_planner_string_config_map_; 
  std::vector<std::string> planning_group_names_; 
};
} //namespace ompl_ros_interface

#endif