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 WAREHOUSE_ROS_MESSAGE_WITH_METADATA_H 00041 #define WAREHOUSE_ROS_MESSAGE_WITH_METADATA_H 00042 00043 #include <warehouse_ros/metadata.h> 00044 00045 namespace warehouse_ros 00046 { 00047 00048 /************************************************************ 00049 * MessageWithMetadata 00050 ***********************************************************/ 00051 00055 template<class M> 00056 struct MessageWithMetadata : public M 00057 { 00058 public: 00059 MessageWithMetadata(Metadata::ConstPtr metadata, const M& msg = M()) : 00060 M(msg), metadata_(metadata) 00061 { 00062 } 00063 00064 MessageWithMetadata(const MessageWithMetadata& m) : 00065 M(m), metadata_(m.metadata_) 00066 { 00067 } 00068 00069 MessageWithMetadata() 00070 { 00071 } 00072 00073 Metadata::ConstPtr metadata_; 00074 00075 std::string lookupString(const std::string& name) const 00076 { 00077 return metadata_->lookupString(name); 00078 } 00079 00080 double lookupDouble(const std::string& name) const 00081 { 00082 return metadata_->lookupDouble(name); 00083 } 00084 00085 int lookupInt(const std::string& name) const 00086 { 00087 return metadata_->lookupInt(name); 00088 } 00089 00090 bool lookupBool(const std::string& name) const 00091 { 00092 return metadata_->lookupBool(name); 00093 } 00094 00095 bool lookupField(const std::string& name) const 00096 { 00097 return metadata_->lookupField(name); 00098 } 00099 00100 std::set<std::string> lookupFieldNames() const 00101 { 00102 return metadata_->lookupFieldNames(); 00103 } 00104 00105 typedef boost::shared_ptr<MessageWithMetadata<M> > Ptr; 00106 typedef boost::shared_ptr<const MessageWithMetadata<M> > ConstPtr; 00107 }; 00108 00109 } // namespace 00110 00111 #endif // include guard