configuration_loader.h
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00033 #ifndef _CONFIGURATION_LOADER_H_
00034 #define _CONFIGURATION_LOADER_H_
00035 
00036 #include <ros/ros.h>
00037 
00038 #include "object_manipulator/tools/exceptions.h"
00039 
00040 namespace object_manipulator {
00041 
00042 class ConfigurationLoader
00043 {
00045   ros::NodeHandle root_nh_;
00046 
00047 public:
00049   inline std::string getStringParam(std::string name)
00050   {
00051     std::string value;
00052     if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
00053     //ROS_INFO_STREAM("Hand description param " << name << " resolved to " << value);
00054     return value;
00055   }
00056 
00058   inline std::vector<std::string> getVectorParam(std::string name)
00059   {
00060     XmlRpc::XmlRpcValue list;
00061     if (!root_nh_.getParamCached(name, list)) throw MissingParamException(name);
00062     if (list.getType() != XmlRpc::XmlRpcValue::TypeArray) throw BadParamException(name);
00063     //ROS_INFO_STREAM("Hand description vector param " << name << " resolved to:");
00064     std::vector<std::string> values;
00065     for (int32_t i=0; i<list.size(); i++)
00066     {
00067       if (list[i].getType() != XmlRpc::XmlRpcValue::TypeString) throw BadParamException(name);
00068       values.push_back( static_cast<std::string>(list[i]) );
00069       //ROS_INFO_STREAM("  " << values.back());
00070     }
00071     return values;      
00072   }
00073 
00075   inline std::vector<double> getVectorDoubleParam(std::string name)
00076   {
00077     XmlRpc::XmlRpcValue list;
00078     if (!root_nh_.getParamCached(name, list)) throw MissingParamException(name);
00079     if (list.getType() != XmlRpc::XmlRpcValue::TypeArray) throw BadParamException(name);
00080     std::vector<double> values;
00081     for (int32_t i=0; i<list.size(); i++)
00082     {
00083       if (list[i].getType() != XmlRpc::XmlRpcValue::TypeDouble) throw BadParamException(name);
00084       values.push_back( static_cast<double>(list[i]) );
00085     }
00086     return values;
00087   }
00088 
00090   inline double getDoubleParam(std::string name)
00091   {
00092     double value;
00093     if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
00094     return value;
00095   }
00096 
00098   inline bool getBoolParam(std::string name)
00099   {
00100     bool value;
00101     if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
00102     return value;
00103   }
00104 
00106   ConfigurationLoader() : root_nh_("~") {}
00107 
00108 };
00109 
00111 inline ConfigurationLoader& configurationLoader()
00112 {
00113   static ConfigurationLoader singleton;
00114   return singleton;
00115 }
00116 
00117 } //namespace object_manipulator
00118 
00119 #endif


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Mon Oct 6 2014 02:59:50