This mixin allows calling the getParam() helpers. More...

#include <param_helper.hpp>

Inheritance diagram for cras::NodeletParamHelper< NodeletType >:

[legend]

Public Member Functions
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const
	Return the log helper used for logging. More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)
	Set the log helper used for logging. More...

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	This is the function picked up by `CRAS_*` logging macros. More...

	HasLogger (const ::cras::LogHelperPtr &log)
	Associate the logger with this interface. More...

void	setCrasLogger (const ::cras::LogHelperPtr &log)
	Set the logger to be used for logging. More...

Protected Member Functions
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const
	Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the private nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the public nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

Additional Inherited Members
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
	Log helper. More...

Detailed Description

template<typename NodeletType>
class cras::NodeletParamHelper< NodeletType >

This mixin allows calling the getParam() helpers.

Template Parameters

NodeletType Type of the base nodelet.

Definition at line 30 of file nodelet_utils/param_helper.hpp.

Constructor & Destructor Documentation

◆ NodeletParamHelper()

template<typename NodeletType >

cras::NodeletParamHelper< NodeletType >::NodeletParamHelper ( )

◆ ~NodeletParamHelper()

template<typename NodeletType >

cras::NodeletParamHelper< NodeletType >::~NodeletParamHelper ( )

override

Member Function Documentation

◆ getParam() [1/4]

template<typename NodeletType >

inline ::std::string cras::NodeletParamHelper< NodeletType >::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ::cras::optional< const char * > &	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 216 of file nodelet_utils/param_helper.hpp.

◆ getParam() [2/4]

template<typename NodeletType >

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::NodeletParamHelper< NodeletType >::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ::cras::optional< ResultType > &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 116 of file nodelet_utils/param_helper.hpp.

◆ getParam() [3/4]

template<typename NodeletType >

inline ::std::string cras::NodeletParamHelper< NodeletType >::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 238 of file nodelet_utils/param_helper.hpp.

◆ getParam() [4/4]

template<typename NodeletType >

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::NodeletParamHelper< NodeletType >::getParam	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ResultType &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 145 of file nodelet_utils/param_helper.hpp.

◆ getParamVerbose() [1/4]

template<typename NodeletType >

inline ::cras::GetParamResult<::std::string> cras::NodeletParamHelper< NodeletType >::getParamVerbose	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ::cras::optional< const char * > &	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 171 of file nodelet_utils/param_helper.hpp.

◆ getParamVerbose() [2/4]

template<typename NodeletType >

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::NodeletParamHelper< NodeletType >::getParamVerbose	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ::cras::optional< ResultType > &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 57 of file nodelet_utils/param_helper.hpp.

◆ getParamVerbose() [3/4]

template<typename NodeletType >

inline ::cras::GetParamResult<::std::string> cras::NodeletParamHelper< NodeletType >::getParamVerbose	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 193 of file nodelet_utils/param_helper.hpp.

◆ getParamVerbose() [4/4]

template<typename NodeletType >

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::NodeletParamHelper< NodeletType >::getParamVerbose	(	const ::ros::NodeHandle &	node,
		const ::std::string &	name,
		const ResultType &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)

inlineprotected

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	node	The node handle from which parameters are read.
[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 86 of file nodelet_utils/param_helper.hpp.

◆ params()

template<typename NodeletType >

::cras::BoundParamHelperPtr cras::NodeletParamHelper< NodeletType >::params	(	const ::ros::NodeHandle &	node,
		const ::std::string &	ns = `""`
	)		const

protected

Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in]	node	The node to bind to.
[in]	ns	If nonempty, returns just the parameters in the given namespace.

Returns: The bound param helper.

◆ paramsForNodeHandle()

template<typename NodeletType >

::cras::BoundParamHelperPtr cras::NodeletParamHelper< NodeletType >::paramsForNodeHandle ( const ::ros::NodeHandle & node ) const

protected

Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in] node The node to bind to.

Returns: The bound param helper.

◆ privateParams()

template<typename NodeletType >

::cras::BoundParamHelperPtr cras::NodeletParamHelper< NodeletType >::privateParams ( const ::std::string & ns = "" ) const

protected

Creates a version of this param helper "bound" to the private nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in] ns If nonempty, returns just the parameters in the given namespace.

Returns: The bound param helper.

◆ publicParams()

template<typename NodeletType >

::cras::BoundParamHelperPtr cras::NodeletParamHelper< NodeletType >::publicParams ( const ::std::string & ns = "" ) const

protected

Creates a version of this param helper "bound" to the public nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls.

Parameters

[in] ns If nonempty, returns just the parameters in the given namespace.

Returns: The bound param helper.

The documentation for this class was generated from the following file:

nodelet_utils/param_helper.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename NodeletType> class cras::NodeletParamHelper< NodeletType >

Constructor & Destructor Documentation

◆ NodeletParamHelper()

◆ ~NodeletParamHelper()

Member Function Documentation

◆ getParam() [1/4]

◆ getParam() [2/4]

◆ getParam() [3/4]

◆ getParam() [4/4]

◆ getParamVerbose() [1/4]

◆ getParamVerbose() [2/4]

◆ getParamVerbose() [3/4]

◆ getParamVerbose() [4/4]

◆ params()

◆ paramsForNodeHandle()

◆ privateParams()

◆ publicParams()

template<typename NodeletType>
class cras::NodeletParamHelper< NodeletType >