rosparam_shortcuts.h

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Helpers for loading parameters from the parameter server
*/

#ifndef ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H
#define ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H

// C++
#include <string>
#include <vector>
#include <map>

// ROS
#include <ros/ros.h>

// Eigen
#include <Eigen/Geometry>

// this package
#include <rosparam_shortcuts/deprecation.h>

namespace rosparam_shortcuts
{
// -------------------------------------------------------------------------------------------------
// Helper Functions
// -------------------------------------------------------------------------------------------------

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, bool &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &params_name,
         std::map<std::string, bool> &parameters);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, double &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
         std::vector<double> &values);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::size_t &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::string &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
         std::vector<std::string> &values);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
         ros::Duration &value);

bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
         Eigen::Affine3d &value);

// -------------------------------------------------------------------------
// Old methods
// -------------------------------------------------------------------------

ROSPARAM_SHORTCUTS_DEPRECATED
bool getBoolParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, bool &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getBoolMap(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &params_name,
                std::map<std::string, bool> &parameters)
{
  return get(parent_name, nh, params_name, parameters);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getDoubleParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                    double &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getDoubleParams(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                     std::vector<double> &values)
{
  return get(parent_name, nh, param_name, values);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getIntParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getSizeTParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                   std::size_t &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getStringParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                    std::string &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getStringParams(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                     std::vector<std::string> &values)
{
  return get(parent_name, nh, param_name, values);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getDurationParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                      ros::Duration &value)
{
  return get(parent_name, nh, param_name, value);
}

ROSPARAM_SHORTCUTS_DEPRECATED
bool getAffine3dParam(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
                      Eigen::Affine3d &value)
{
  return get(parent_name, nh, param_name, value);
}

std::string getDebugArrayString(std::vector<double> values);

std::string getDebugArrayString(std::vector<std::string> values);

bool convertDoublesToEigen(const std::string &parent_name, std::vector<double> values, Eigen::Affine3d &transform);

void shutdownIfError(const std::string &parent_name, std::size_t error_count);

ROSPARAM_SHORTCUTS_DEPRECATED
void shutdownIfParamErrors(const std::string &parent_name, std::size_t error_count)
{
  shutdownIfError(parent_name, error_count);
}

}  // namespace rosparam_shortcuts

#endif  // ROSPARAM_SHORTCUTS_ROSPARAM_SHORTCUTS_H