message_with_metadata.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00040 #ifndef MONGO_ROS_MESSAGE_WITH_METADATA_H
00041 #define MONGO_ROS_MESSAGE_WITH_METADATA_H
00042 
00043 #include <mongo_ros/metadata.h>
00044 
00045 namespace mongo_ros
00046 {
00047 
00048 
00049 /************************************************************
00050  * MessageWithMetadata
00051  ***********************************************************/
00052 
00053 
00057 template <class M>
00058 struct MessageWithMetadata : public M
00059 {
00060   MessageWithMetadata (const Metadata& metadata,
00061                        const M& msg = M()) :
00062     M(msg), metadata(metadata)
00063   {
00064   }
00065 
00066   MessageWithMetadata (const mongo::BSONObj& metadata,
00067                        const M& msg = M()) :
00068     M(msg), metadata(metadata)
00069   {}
00070 
00071   MessageWithMetadata (const MessageWithMetadata& m) :
00072     M(m), metadata(m.metadata)
00073   {}
00074 
00075   MessageWithMetadata ()
00076   {}
00077 
00078   mongo::BSONObj metadata;
00079 
00080   std::string lookupString (const std::string& name) const
00081   {
00082     return metadata.getStringField(name.c_str());
00083   }
00084 
00085   double lookupDouble (const std::string& name) const
00086   {
00087     double d;
00088     metadata[name.c_str()].Val(d);
00089     return d;
00090   }
00091 
00092   int lookupInt (const std::string& name) const
00093   {
00094     return metadata.getIntField(name.c_str());
00095   }
00096 
00097   bool lookupBool (const std::string& name) const
00098   {
00099     return metadata.getBoolField(name.c_str());
00100   }
00101 
00102   typedef boost::shared_ptr<MessageWithMetadata<M> > Ptr;
00103   typedef boost::shared_ptr<MessageWithMetadata<M> const> ConstPtr;
00104 };
00105 
00106 
00107 } // namespace
00108 
00109 #endif // include guard


warehouse_ros
Author(s): Bhaskara Marthi
autogenerated on Fri Apr 22 2016 04:08:50