Program Listing for File message_with_metadata.h

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// Copyright 2008 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 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
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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