Program Listing for File utils.h

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#ifndef ROBOT_CONTROLLERS_INTERFACE__UTILS_H_
#define ROBOT_CONTROLLERS_INTERFACE__UTILS_H_

#include <algorithm>
#include <string>

#include "rclcpp/rclcpp.hpp"

namespace robot_controllers_interface
{

// Mainly used for robot_description
template <typename T>
T declare_parameter_once(const std::string& name, const T& default_value,
                         rclcpp::Node::SharedPtr node)
{
  if (!node->has_parameter(name))
  {
    node->declare_parameter<T>(name, default_value);
  }

  T value;
  node->get_parameter(name, value);
  return value;
}

// Parameters use ".", topics use "/"
inline std::string get_safe_topic_name(const std::string& name)
{
  std::string safe_name = name;
  std::replace(safe_name.begin(), safe_name.end(), '.', '/');
  return safe_name;
}

template <typename T>
double to_sec(const T& t)
{
  return (double) t.nanoseconds() / 1e9;
}

template <typename T>
double msg_to_sec(T timelike)
{
  return timelike.sec + (double) timelike.nanosec / 1e9;
}

}  // namespace robot_controllers_interface

#endif  // ROBOT_CONTROLLERS_INTERFACE__UTILS_H_