parameter_server.h
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00001 /*
00002  * parameter_server.h
00003  * 
00004  */
00005 #ifndef PARAMETER_SERVER_H_
00006 #define PARAMETER_SERVER_H_
00007 #include <string>
00008 #include <ros/ros.h>
00009 #include <boost/any.hpp>
00010 
00011 //this is a global definition of the points to be used
00012 //changes to omit color would need adaptations in 
00013 //the visualization too
00014 
00020 class ParameterServer {
00021 public:
00025     static ParameterServer* instance();
00026 
00034     template<typename T>
00035     T get(const std::string param) {
00036         ROS_ERROR_COND(config.count(param)==0, "ParameterServer object queried for invalid parameter \"%s\"", param.c_str());
00037         boost::any value = config[param];
00038         return boost::any_cast<T>(value);
00039     }
00040 
00041 private:
00042     std::map<std::string, boost::any> config;
00043 
00044     static ParameterServer* _instance;
00045     std::string pre;
00046     ros::NodeHandle handle;
00047 
00052     ParameterServer();
00053 
00059     void getValues();
00060 
00064     void defaultConfig();
00065 
00075     template<typename T>
00076     T getFromParameterServer(const std::string param, T def) {
00077         std::string fullParam = param;
00078         T result;
00079         handle.param(fullParam, result, def);
00080         return result;
00081     }
00082 };
00083 
00084 #endif /* PARAMETER_SERVER_H_ */
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rgbd_registration
Author(s): Ross Kidson
autogenerated on Thu May 23 2013 15:36:53