.. _program_listing_file__tmp_ws_src_grid_map_grid_map_cv_include_grid_map_cv_utilities.hpp:

Program Listing for File utilities.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_cv_include_grid_map_cv_utilities.hpp>` (``/tmp/ws/src/grid_map/grid_map_cv/include/grid_map_cv/utilities.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef GRID_MAP_CV__UTILITIES_HPP_
   #define GRID_MAP_CV__UTILITIES_HPP_
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <string>
   #include <vector>
   
   namespace grid_map
   {
   
   class ParameterReader
   {
   public:
     ParameterReader(
       std::string param_prefix,
       rclcpp::node_interfaces::NodeParametersInterface::SharedPtr params_interface)
     : param_prefix_(param_prefix),
       params_interface_(params_interface) {}
   
     template<typename T>
     bool get_template(const std::string & name, T & value_out, rclcpp::ParameterType param_type)
     {
       rclcpp::Parameter param;
   
       params_interface_->declare_parameter(param_prefix_ + name, param_type);
       params_interface_->get_parameter(param_prefix_ + name, param);
   
       if (param.get_type() != param_type) {
         return false;
       } else {
         value_out = param.get_value<T>();
         return true;
       }
     }
   
     bool get(const std::string & name, int & value_out)
     {
       return get_template<int>(name, value_out, rclcpp::PARAMETER_INTEGER);
     }
   
     bool get(const std::string & name, double & value_out)
     {
       return get_template<double>(name, value_out, rclcpp::PARAMETER_DOUBLE);
     }
   
     bool get(const std::string & name, std::string & value_out)
     {
       return get_template<std::string>(name, value_out, rclcpp::PARAMETER_STRING);
     }
   
     bool get(const std::string & name, bool & value_out)
     {
       return get_template<bool>(name, value_out, rclcpp::PARAMETER_BOOL);
     }
   
     bool get(const std::string & name, std::vector<double> & value_out)
     {
       return get_template(name, value_out, rclcpp::PARAMETER_DOUBLE_ARRAY);
     }
   
     bool get(const std::string & name, std::vector<std::string> & value_out)
     {
       return get_template<std::vector<std::string>>(name, value_out, rclcpp::PARAMETER_STRING_ARRAY);
     }
   
   private:
     std::string param_prefix_;
   
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr params_interface_;
   };
   }  // namespace grid_map
   
   #endif  // GRID_MAP_CV__UTILITIES_HPP_