parameter_pa_ros.h

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* parameter_pa_ros.h                                                          *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
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#ifndef __PARAMETER_PA_ROS_H
#define __PARAMETER_PA_ROS_H

// ros headers
#include <ros/ros.h>

// standard headers
#include <string>
#include <vector>

#include <eigen3/Eigen/Core>

//**************************[cParameterPaRos]**********************************
class cParameterPaRos {
  public:
    bool load(const std::string name, bool        &value,
              const bool print_default = true) const;

    bool load(const std::string name, std::string &value,
              const bool print_default = true) const;
    bool loadTopic(const std::string name, std::string &value,
                   const bool print_default = true) const;
    bool loadPath(const std::string name, std::string &value,
                  const bool print_default = true) const;

    bool load(const std::string name, int         &value,
              const bool print_default = true) const;

    bool load(const std::string name, double      &value,
              const bool print_default = true) const;


    bool load(const std::string name, std::vector<bool       > &value,
              const bool print_default = true) const;

    bool load(const std::string name, std::vector<std::string> &value,
              const bool print_default = true) const;

    bool load(const std::string name, std::vector<int        > &value,
              const bool print_default = true) const;

    bool load(const std::string name, std::vector<double     > &value,
              const bool print_default = true) const;

    bool load(const std::string name, Eigen::MatrixXf &value,
              const bool print_default = true) const;

    static bool replaceFindpack(std::string &path);
    static std::string resolveRessourcename(const std::string name);
    static std::string boolToStr(const bool value);

    // deprecated function names, just for compatibility
    // (starting after next ros-release, those names will
    //  marked as deprecated)
    // __attribute__ ((deprecated))
    bool load_topic(const std::string name, std::string &value,
                    const bool print_default = true) const;
    // __attribute__ ((deprecated))
    bool load_path(const std::string name, std::string &value,
                   const bool print_default = true) const;

    //__attribute__ ((deprecated))
    static bool replace_findpack(std::string &path);
    //__attribute__ ((deprecated))
    static void resolve_ressourcename(std::string &name);
    //__attribute__ ((deprecated))
    static std::string bool_to_str(const bool value);

  private:
    void loadSub(const std::string &n, const std::string &v,
                 const bool p, const bool r) const;
    static std::list<std::string> splitRessourcename(
      const std::string name);

    ros::NodeHandle nh_;
};

#endif // __PARAMETER_PA_ROS_H