parameter_adapter.h
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00001 /*
00002  * Copyright (C) 2010, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_PARAMETER_ADAPTER_H
00029 #define ROSCPP_PARAMETER_ADAPTER_H
00030 
00031 #include "ros/forwards.h"
00032 #include "ros/message_event.h"
00033 #include <ros/static_assert.h>
00034 
00035 #include <boost/type_traits/add_const.hpp>
00036 #include <boost/type_traits/remove_const.hpp>
00037 #include <boost/type_traits/remove_reference.hpp>
00038 
00039 namespace ros
00040 {
00041 
00068 template<typename M>
00069 struct ParameterAdapter
00070 {
00071   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00072   typedef ros::MessageEvent<Message const> Event;
00073   typedef M Parameter;
00074   static const bool is_const = true;
00075 
00076   static Parameter getParameter(const Event& event)
00077   {
00078     return *event.getMessage();
00079   }
00080 };
00081 
00082 template<typename M>
00083 struct ParameterAdapter<const boost::shared_ptr<M const>& >
00084 {
00085   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00086   typedef ros::MessageEvent<Message const> Event;
00087   typedef const boost::shared_ptr<Message const> Parameter;
00088   static const bool is_const = true;
00089 
00090   static Parameter getParameter(const Event& event)
00091   {
00092     return event.getMessage();
00093   }
00094 };
00095 
00096 template<typename M>
00097 struct ParameterAdapter<const boost::shared_ptr<M>& >
00098 {
00099   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00100   typedef ros::MessageEvent<Message const> Event;
00101   typedef boost::shared_ptr<Message> Parameter;
00102   static const bool is_const = false;
00103 
00104   static Parameter getParameter(const Event& event)
00105   {
00106     return ros::MessageEvent<Message>(event).getMessage();
00107   }
00108 };
00109 
00110 template<typename M>
00111 struct ParameterAdapter<const M&>
00112 {
00113   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00114   typedef ros::MessageEvent<Message const> Event;
00115   typedef const M& Parameter;
00116   static const bool is_const = true;
00117 
00118   static Parameter getParameter(const Event& event)
00119   {
00120     return *event.getMessage();
00121   }
00122 };
00123 
00124 template<typename M>
00125 struct ParameterAdapter<boost::shared_ptr<M const> >
00126 {
00127   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00128   typedef ros::MessageEvent<Message const> Event;
00129   typedef boost::shared_ptr<Message const> Parameter;
00130   static const bool is_const = true;
00131 
00132   static Parameter getParameter(const Event& event)
00133   {
00134     return event.getMessage();
00135   }
00136 };
00137 
00138 template<typename M>
00139 struct ParameterAdapter<boost::shared_ptr<M> >
00140 {
00141   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00142   typedef ros::MessageEvent<Message const> Event;
00143   typedef boost::shared_ptr<Message> Parameter;
00144   static const bool is_const = false;
00145 
00146   static Parameter getParameter(const Event& event)
00147   {
00148     return ros::MessageEvent<Message>(event).getMessage();
00149   }
00150 };
00151 
00152 template<typename M>
00153 struct ParameterAdapter<const ros::MessageEvent<M const>& >
00154 {
00155   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00156   typedef ros::MessageEvent<Message const> Event;
00157   typedef const ros::MessageEvent<Message const>& Parameter;
00158   static const bool is_const = true;
00159 
00160   static Parameter getParameter(const Event& event)
00161   {
00162     return event;
00163   }
00164 };
00165 
00166 template<typename M>
00167 struct ParameterAdapter<const ros::MessageEvent<M>& >
00168 {
00169   typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
00170   typedef ros::MessageEvent<Message const> Event;
00171   typedef ros::MessageEvent<Message> Parameter;
00172   static const bool is_const = false;
00173 
00174   static Parameter getParameter(const Event& event)
00175   {
00176     return ros::MessageEvent<Message>(event);
00177   }
00178 };
00179 
00180 }
00181 
00182 #endif // ROSCPP_PARAMETER_ADAPTER_H


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03