ros_logger.h

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#ifndef __ROS_LOGGER_H
#define __ROS_LOGGER_H

#include "pointmatcher/PointMatcher.h"

namespace PointMatcherSupport
{
        struct ROSLogger: public Logger
        {
                inline static const std::string description()
                {
                        return "Log using ROS console.";
                }
                
        virtual bool hasInfoChannel() const{ return true; }
                virtual void beginInfoEntry(const char *file, unsigned line, const char *func);
                virtual std::ostream* infoStream() { return &_infoStream; }
                virtual void finishInfoEntry(const char *file, unsigned line, const char *func);
                virtual bool hasWarningChannel() const { return true; }
                virtual void beginWarningEntry(const char *file, unsigned line, const char *func);
                virtual std::ostream* warningStream() { return &_warningStream; }
                virtual void finishWarningEntry(const char *file, unsigned line, const char *func);
                
        protected:
                void writeRosLog(ros::console::Level level, const char* file, int line, const char *func, const std::string& text);
                
                std::ostringstream _infoStream;
                std::ostringstream _warningStream;
        };
        
        void ROSLogger::beginInfoEntry(const char *file, unsigned line, const char *func)
        {
                _infoStream.str("");
        }
        
        void ROSLogger::finishInfoEntry(const char *file, unsigned line, const char *func)
        {
                writeRosLog(ros::console::levels::Info, file, line, func, _infoStream.str());
        }
        
        void ROSLogger::beginWarningEntry(const char *file, unsigned line, const char *func)
        {
                _warningStream.str("");
        }
        
        void ROSLogger::finishWarningEntry(const char *file, unsigned line, const char *func)
        {
                writeRosLog(ros::console::levels::Warn, file, line, func, _warningStream.str());
        }
        
        void ROSLogger::writeRosLog(ros::console::Level level, const char* file, int line, const char *func, const std::string& text)
        {
                ROSCONSOLE_DEFINE_LOCATION(true, level, ROSCONSOLE_DEFAULT_NAME);
        //if (enabled)
                        ros::console::print(0, loc.logger_, loc.level_, file, line, func, "%s", text.c_str());
        }
}

#endif // __ROS_LOGGER_H