parameter_server.h

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/*
 * parameter_server.h
 * 
 */
#ifndef PARAMETER_SERVER_H_
#define PARAMETER_SERVER_H_
#include <string>
#include <ros/ros.h>
#include <boost/any.hpp>

//this is a global definition of the points to be used
//changes to omit color would need adaptations in 
//the visualization too

class ParameterServer {
public:
    static ParameterServer* instance();

    template<typename T>
    T get(const std::string param) {
        ROS_ERROR_COND(config.count(param)==0, "ParameterServer object queried for invalid parameter \"%s\"", param.c_str());
        boost::any value = config[param];
        return boost::any_cast<T>(value);
    }

private:
    std::map<std::string, boost::any> config;

    static ParameterServer* _instance;
    std::string pre;
    ros::NodeHandle handle;

    ParameterServer();

    void getValues();

    void defaultConfig();

    template<typename T>
    T getFromParameterServer(const std::string param, T def) {
        std::string fullParam = param;
        T result;
        handle.param(fullParam, result, def);
        return result;
    }
};

#endif /* PARAMETER_SERVER_H_ */