Program Listing for File parameter_adapter.h

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/*
 * Copyright (C) 2010, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// Imported from
// https://github.com/ros/ros_comm/blob/a2ca01ecf31d677dd5c1b08cc6852bd0dac02b97/clients/roscpp/include/ros/parameter_adapter.h

#ifndef MESSAGE_FILTERS__PARAMETER_ADAPTER_H_
#define MESSAGE_FILTERS__PARAMETER_ADAPTER_H_

#include <memory>
#include <type_traits>

#include "message_filters/message_event.h"

namespace message_filters
{

template<typename M>
struct ParameterAdapter
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef M Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return *event.getMessage();
  }
};
//struct message_filters::ParameterAdapter<const std::shared_ptr<const Msg>&>
template<typename M>
struct ParameterAdapter<const std::shared_ptr<M const>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const std::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const std::shared_ptr<M>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const M&>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const M& Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return *event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<std::shared_ptr<M const> >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<std::shared_ptr<M> >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const MessageEvent<M const>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const MessageEvent<Message const>& Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event;
  }
};

template<typename M>
struct ParameterAdapter<const MessageEvent<M>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef MessageEvent<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return MessageEvent<Message>(event);
  }
};

}  // namespace message_filters

#endif // MESSAGE_FILTERS__PARAMETER_ADAPTER_H_