ros::param Namespace Reference

Contains functions which allow you to query the parameter server. More...

Typedefs
typedef std::map< std::string, XmlRpc::XmlRpcValue >	M_Param
Functions
ROSCPP_DECL bool	del (const std::string &key)
	Delete a parameter from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::string &s)
	Get a string value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, double &d)
	Get a double value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, float &f)
	Get a float value from the parameter server (internally using the double value).
ROSCPP_DECL bool	get (const std::string &key, int &i)
	Get an integer value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, bool &b)
	Get a boolean value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server.
ROSCPP_DECL bool	get (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server.
ROSCPP_DECL bool	getCached (const std::string &key, std::string &s)
	Get a string value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, double &d)
	Get a double value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, float &f)
	Get a float value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, int &i)
	Get an integer value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, bool &b)
	Get a boolean value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server, with local caching.
ROSCPP_DECL bool	getCached (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server, with local caching.
bool	getImpl (const std::string &key, XmlRpc::XmlRpcValue &v, bool use_cache)
bool	getImpl (const std::string &key, std::string &s, bool use_cache)
bool	getImpl (const std::string &key, double &d, bool use_cache)
bool	getImpl (const std::string &key, float &f, bool use_cache)
bool	getImpl (const std::string &key, int &i, bool use_cache)
bool	getImpl (const std::string &key, bool &b, bool use_cache)
template<class T >
bool	getImpl (const std::string &key, std::vector< T > &vec, bool cached)
template<class T >
bool	getImpl (const std::string &key, std::map< std::string, T > &map, bool cached)
ROSCPP_DECL bool	getParamNames (std::vector< std::string > &keys)
	Get the list of all the parameters in the server.
ROSCPP_DECL bool	has (const std::string &key)
	Check whether a parameter exists on the parameter server.
void	init (const M_string &remappings)
void	invalidateParentParams (const std::string &key)
template<typename T >
void	param (const std::string &param_name, T &param_val, const T &default_val)
	Assign value from parameter server, with default.
template<typename T >
T	param (const std::string &param_name, const T &default_val)
	Return value from parameter server, or default if unavailable.
void	paramUpdateCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL bool	search (const std::string &ns, const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key.
ROSCPP_DECL bool	search (const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name.
ROSCPP_DECL void	set (const std::string &key, const XmlRpc::XmlRpcValue &v)
	Set an arbitrary XML/RPC value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::string &s)
	Set a string value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const char *s)
	Set a string value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, double d)
	Set a double value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, int i)
	Set an integer value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, bool b)
	Set a bool value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::vector< std::string > &vec)
	Set a string vector value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::vector< double > &vec)
	Set a double vector value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::vector< float > &vec)
	Set a float vector value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::vector< int > &vec)
	Set an integer vector value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::vector< bool > &vec)
	Set a bool vector value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, std::string > &map)
	Set a string->string map value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, double > &map)
	Set a string->double map value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, float > &map)
	Set a string->float map value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, int > &map)
	Set a string->int map value on the parameter server.
ROSCPP_DECL void	set (const std::string &key, const std::map< std::string, bool > &map)
	Set a string->bool map value on the parameter server.
template<class T >
void	setImpl (const std::string &key, const std::vector< T > &vec)
template<class T >
void	setImpl (const std::string &key, const std::map< std::string, T > &map)
void	update (const std::string &key, const XmlRpc::XmlRpcValue &v)
template<class T >
T	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<>
double	xml_cast (XmlRpc::XmlRpcValue xml_value)
template<class T >
bool	xml_castable (int XmlType)
template<>
bool	xml_castable< bool > (int XmlType)
template<>
bool	xml_castable< double > (int XmlType)
template<>
bool	xml_castable< float > (int XmlType)
template<>
bool	xml_castable< int > (int XmlType)
template<>
bool	xml_castable< std::string > (int XmlType)
Variables
M_Param	g_params
boost::mutex	g_params_mutex
S_string	g_subscribed_params

---

Detailed Description

Contains functions which allow you to query the parameter server.

---

Typedef Documentation

typedef std::map<std::string, XmlRpc::XmlRpcValue> ros::param::M_Param

Definition at line 48 of file param.cpp.

---

Function Documentation

bool ros::param::del

(

const std::string &

key

)

Delete a parameter from the parameter server.

Parameters:

key	The key to delete.

Returns:

true if the deletion succeeded, false otherwise.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 229 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 416 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 421 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server (internally using the double value).

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 426 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 431 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 436 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 441 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 611 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 615 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 619 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 623 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 627 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 682 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 686 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 690 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 694 of file param.cpp.

bool ros::param::get	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 698 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 446 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 451 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 456 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 461 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 466 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 471 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 632 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 636 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 640 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 644 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 648 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 703 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 707 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 711 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 715 of file param.cpp.

bool ros::param::getCached	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master -- they will instead look up in the local cache.

Parameters:

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns:

true if the parameter value was retrieved, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 719 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v,
		bool	use_cache
	)

Definition at line 254 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		std::string &	s,
		bool	use_cache
	)

Definition at line 326 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		double &	d,
		bool	use_cache
	)

Definition at line 337 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		float &	f,
		bool	use_cache
	)

Definition at line 361 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		int &	i,
		bool	use_cache
	)

Definition at line 370 of file param.cpp.

bool ros::param::getImpl	(	const std::string &	key,
		bool &	b,
		bool	use_cache
	)

Definition at line 405 of file param.cpp.

template<class T >

bool ros::param::getImpl	(	const std::string &	key,
		std::vector< T > &	vec,
		bool	cached
	)

Definition at line 584 of file param.cpp.

template<class T >

bool ros::param::getImpl	(	const std::string &	key,
		std::map< std::string, T > &	map,
		bool	cached
	)

Definition at line 654 of file param.cpp.

bool ros::param::getParamNames

(

std::vector< std::string > &

keys

)

Get the list of all the parameters in the server.

Parameters:

keys	The vector of all the keys

Returns:

false if the process fails

Definition at line 724 of file param.cpp.

bool ros::param::has

(

const std::string &

key

)

Check whether a parameter exists on the parameter server.

Parameters:

key	The key to check.

Returns:

true if the parameter exists, false otherwise

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 212 of file param.cpp.

void ros::param::init

(

const M_string &

remappings

)

Definition at line 811 of file param.cpp.

void ros::param::invalidateParentParams

(

const std::string &

key

)

Definition at line 53 of file param.cpp.

template<typename T >

void ros::param::param	(	const std::string &	param_name,
		T &	param_val,
		const T &	default_val
	)

Assign value from parameter server, with default.

This method tries to retrieve the indicated parameter value from the parameter server, storing the result in param_val. If the value cannot be retrieved from the server, default_val is used instead.

Parameters:

	param_name	The key to be searched on the parameter server.
[out]	param_val	Storage for the retrieved value.
	default_val	Value to use if the server doesn't contain this parameter.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 607 of file param.h.

template<typename T >

T ros::param::param	(	const std::string &	param_name,
		const T &	default_val
	)

Return value from parameter server, or default if unavailable.

This method tries to retrieve the indicated parameter value from the parameter server. If the parameter cannot be retrieved, default_val is returned instead.

Parameters:

param_name	The key to be searched on the parameter server.
default_val	Value to return if the server doesn't contain this parameter.

Returns:

The parameter value retrieved from the parameter server, or default_val if unavailable.

Exceptions:

InvalidNameException

If the key is not a valid graph resource name.

Definition at line 638 of file param.h.

void ros::param::paramUpdateCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 802 of file param.cpp.

bool ros::param::search	(	const std::string &	ns,
		const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters:

	ns	The namespace to begin the search in
	key	the parameter to search for
[out]	result	the found value (if any)

Returns:

true if the parameter was found, false otherwise.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 759 of file param.cpp.

bool ros::param::search	(	const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters:

	key	the parameter to search for
[out]	result	the found value (if any)

Returns:

true if the parameter was found, false otherwise.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 754 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Set an arbitrary XML/RPC value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
v	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 67 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::string &	s
	)

Set a string value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 94 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const char *	s
	)

Set a string value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 102 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		double	d
	)

Set a double value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
d	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 111 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		int	i
	)

Set an integer value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
i	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 117 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		bool	b
	)

Set a bool value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
b	The value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 123 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::vector< std::string > &	vec
	)

Set a string vector value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 145 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::vector< double > &	vec
	)

Set a double vector value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 150 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::vector< float > &	vec
	)

Set a float vector value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 155 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::vector< int > &	vec
	)

Set an integer vector value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 160 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::vector< bool > &	vec
	)

Set a bool vector value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 165 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, std::string > &	map
	)

Set a string->string map value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 187 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, double > &	map
	)

Set a string->double map value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 192 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, float > &	map
	)

Set a string->float map value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 197 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, int > &	map
	)

Set a string->int map value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 202 of file param.cpp.

void ros::param::set	(	const std::string &	key,
		const std::map< std::string, bool > &	map
	)

Set a string->bool map value on the parameter server.

Parameters:

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions:

InvalidNameException

if the key is not a valid graph resource name

Definition at line 207 of file param.cpp.

template<class T >

void ros::param::setImpl	(	const std::string &	key,
		const std::vector< T > &	vec
	)

Definition at line 130 of file param.cpp.

template<class T >

void ros::param::setImpl	(	const std::string &	key,
		const std::map< std::string, T > &	map
	)

Definition at line 171 of file param.cpp.

void ros::param::update	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Definition at line 788 of file param.cpp.

template<class T >

T ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 476 of file param.cpp.

template<>

bool ros::param::xml_cast

(

XmlRpc::XmlRpcValue

xml_value

)

Definition at line 523 of file param.cpp.

template<class T >

bool ros::param::xml_castable

(

int

XmlType

)

Definition at line 481 of file param.cpp.

template<>

bool ros::param::xml_castable< bool >

(

int

XmlType

)

Definition at line 515 of file param.cpp.

template<>

bool ros::param::xml_castable< double >

(

int

XmlType

)

Definition at line 491 of file param.cpp.

template<>

bool ros::param::xml_castable< float >

(

int

XmlType

)

Definition at line 499 of file param.cpp.

template<>

bool ros::param::xml_castable< int >

(

int

XmlType

)

Definition at line 507 of file param.cpp.

template<>

bool ros::param::xml_castable< std::string >

(

int

XmlType

)

Definition at line 486 of file param.cpp.

---

Variable Documentation

M_Param ros::param::g_params

Definition at line 49 of file param.cpp.

boost::mutex ros::param::g_params_mutex

Definition at line 50 of file param.cpp.

S_string ros::param::g_subscribed_params

Definition at line 51 of file param.cpp.