00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_TOPIC_TOOLS_ROSPARAM_UTILS_H_ 00038 #define JSK_TOPIC_TOOLS_ROSPARAM_UTILS_H_ 00039 00040 #include <ros/ros.h> 00041 00042 namespace jsk_topic_tools 00043 { 00045 // a function to read vector of double parameters 00046 // from ros parameter servers. 00048 bool readVectorParameter( 00049 ros::NodeHandle& nh, 00050 const std::string& param_name, 00051 std::vector<double>& result); 00052 00054 // a function to read vector of vector of double 00055 // parameters. (nested) 00056 // from ros parameter servers. 00058 bool readVectorParameter( 00059 ros::NodeHandle& nh, 00060 const std::string& param_name, 00061 std::vector<std::vector<double> >& result); 00062 00064 // a function to read vector of string parameters 00065 // from ros parameter servers. 00067 bool readVectorParameter( 00068 ros::NodeHandle& nh, 00069 const std::string& param_name, 00070 std::vector<std::string>& result); 00071 00073 // a function to read vector of vector of string 00074 // parameters. (nested) 00075 // from ros parameter servers. 00077 bool readVectorParameter( 00078 ros::NodeHandle& nh, 00079 const std::string& param_name, 00080 std::vector<std::vector<std::string> >& result); 00081 00083 // a function to convert from XmlRpc type to double 00085 double getXMLDoubleValue(XmlRpc::XmlRpcValue val); 00086 } 00087 00088 #endif