rosparam_shortcuts: rosparam_shortcuts.h Source File

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00034 
00035 /* Author: Dave Coleman <dave@dav.ee>
00036    Desc:   Helpers for loading parameters from the parameter server
00037 */
00038 
00039 #ifndef ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H
00040 #define ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H
00041 
00042 // C++
00043 #include <string>
00044 #include <vector>
00045 #include <map>
00046 
00047 // ROS
00048 #include <ros/ros.h>
00049 
00050 // Eigen
00051 #include <Eigen/Geometry>
00052 
00053 // this package
00054 #include <rosparam_shortcuts/deprecation.h>
00055 
00056 namespace rosparam_shortcuts
00057 {
00058 // -------------------------------------------------------------------------------------------------
00059 // Helper Functions
00060 // -------------------------------------------------------------------------------------------------
00061 
00071 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, bool &value);
00072 
00073 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &params_name,
00074          std::map<std::string, bool> &parameters);
00075 
00076 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, double &value);
00077 
00078 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
00079          std::vector<double> &values);
00080 
00081 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value);
00082 
00083 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::size_t &value);
00084 
00085 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::string &value);
00086 
00087 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
00088          std::vector<std::string> &values);
00089 
00090 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
00091          ros::Duration &value);
00092 
00093 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
00094          Eigen::Affine3d &value);
00095 
00101 std::string getDebugArrayString(std::vector<double> values);
00102 
00103 std::string getDebugArrayString(std::vector<std::string> values);
00104 
00109 bool convertDoublesToEigen(const std::string &parent_name, std::vector<double> values, Eigen::Affine3d &transform);
00110 
00115 void shutdownIfError(const std::string &parent_name, std::size_t error_count);
00116 
00117 }  // namespace rosparam_shortcuts
00118 
00119 #endif  // ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H