parameter_adapter.h

Go to the documentation of this file.

#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
 * 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
 * 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef ROSCPP_PARAMETER_ADAPTER_H
#define ROSCPP_PARAMETER_ADAPTER_H
 
#include "ros/forwards.h"
#include "ros/message_event.h"
#include <ros/static_assert.h>
 
//#include <boost/type_traits/add_const.hpp>
//#include <boost/type_traits/remove_const.hpp>
//#include <boost/type_traits/remove_reference.hpp>
 
namespace roswrap
{
 
template<typename M>
struct ParameterAdapter
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef M 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 const>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef ros::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 ros::MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;
 
  static Parameter getParameter(const Event& event)
  {
    return ros::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 ros::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 ros::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 ros::MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;
 
  static Parameter getParameter(const Event& event)
  {
    return ros::MessageEvent<Message>(event).getMessage();
  }
};
 
template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M const>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef const ros::MessageEvent<Message const>& Parameter;
  static const bool is_const = true;
 
  static Parameter getParameter(const Event& event)
  {
    return event;
  }
};
 
template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M>& >
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef ros::MessageEvent<Message> Parameter;
  static const bool is_const = false;
 
  static Parameter getParameter(const Event& event)
  {
    return ros::MessageEvent<Message>(event);
  }
};
 
}
 
#endif // ROSCPP_PARAMETER_ADAPTER_H