message_with_metadata.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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 name of the 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef WAREHOUSE_ROS_MESSAGE_WITH_METADATA_H
#define WAREHOUSE_ROS_MESSAGE_WITH_METADATA_H

#include <warehouse_ros/metadata.h>

namespace warehouse_ros
{
/************************************************************
 * MessageWithMetadata
 ***********************************************************/

template <class M>
struct MessageWithMetadata : public M
{
public:
  MessageWithMetadata(Metadata::ConstPtr metadata, const M& msg = M()) : M(msg), metadata_(metadata)
  {
  }

  MessageWithMetadata(const MessageWithMetadata& m) : M(m), metadata_(m.metadata_)
  {
  }

  MessageWithMetadata()
  {
  }

  Metadata::ConstPtr metadata_;

  std::string lookupString(const std::string& name) const
  {
    return metadata_->lookupString(name);
  }

  double lookupDouble(const std::string& name) const
  {
    return metadata_->lookupDouble(name);
  }

  int lookupInt(const std::string& name) const
  {
    return metadata_->lookupInt(name);
  }

  bool lookupBool(const std::string& name) const
  {
    return metadata_->lookupBool(name);
  }

  bool lookupField(const std::string& name) const
  {
    return metadata_->lookupField(name);
  }

  std::set<std::string> lookupFieldNames() const
  {
    return metadata_->lookupFieldNames();
  }

  typedef boost::shared_ptr<MessageWithMetadata<M> > Ptr;
  typedef boost::shared_ptr<const MessageWithMetadata<M> > ConstPtr;
};

}  // namespace warehouse_ros

#endif  // include guard