camera_configurations.h

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#ifndef _CAMERA_CONFIGURATIONS_H_
#define _CAMERA_CONFIGURATIONS_H_

#include <ros/ros.h>

#include <cmath>

#include <geometry_msgs/Vector3.h>

#include "object_manipulator/tools/exceptions.h"

#include "configuration_loader.h"

namespace object_manipulator {

class CameraConfigurations : public ConfigurationLoader
{
 private:

 public:
 CameraConfigurations() {}

  inline std::vector< double > get_camera_pose( std::string position_name )
  {
    std::string name = "/im_camera_configurations/" + position_name;
    std::vector<double> values = getVectorDoubleParam(name);
    if (values.size() != 6) throw BadParamException(name);
    return values;
  }
};

inline CameraConfigurations& cameraConfigurations()
{
  static CameraConfigurations camera_configs;
  return camera_configs;
}

} //namespace object_manipulator

#endif