configuration_loader.h

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#ifndef _CONFIGURATION_LOADER_H_
#define _CONFIGURATION_LOADER_H_

#include <ros/ros.h>

#include "object_manipulator/tools/exceptions.h"

namespace object_manipulator {

class ConfigurationLoader
{
  ros::NodeHandle root_nh_;

public:
  inline std::string getStringParam(std::string name)
  {
    std::string value;
    if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
    //ROS_INFO_STREAM("Hand description param " << name << " resolved to " << value);
    return value;
  }

  inline std::vector<std::string> getVectorParam(std::string name)
  {
    XmlRpc::XmlRpcValue list;
    if (!root_nh_.getParamCached(name, list)) throw MissingParamException(name);
    if (list.getType() != XmlRpc::XmlRpcValue::TypeArray) throw BadParamException(name);
    //ROS_INFO_STREAM("Hand description vector param " << name << " resolved to:");
    std::vector<std::string> values;
    for (int32_t i=0; i<list.size(); i++)
    {
      if (list[i].getType() != XmlRpc::XmlRpcValue::TypeString) throw BadParamException(name);
      values.push_back( static_cast<std::string>(list[i]) );
      //ROS_INFO_STREAM("  " << values.back());
    }
    return values;      
  }

  inline std::vector<double> getVectorDoubleParam(std::string name)
  {
    XmlRpc::XmlRpcValue list;
    if (!root_nh_.getParamCached(name, list)) throw MissingParamException(name);
    if (list.getType() != XmlRpc::XmlRpcValue::TypeArray) throw BadParamException(name);
    std::vector<double> values;
    for (int32_t i=0; i<list.size(); i++)
    {
      if (list[i].getType() != XmlRpc::XmlRpcValue::TypeDouble) throw BadParamException(name);
      values.push_back( static_cast<double>(list[i]) );
    }
    return values;
  }

  inline double getDoubleParam(std::string name)
  {
    double value;
    if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
    return value;
  }

  inline bool getBoolParam(std::string name)
  {
    bool value;
    if (!root_nh_.getParamCached(name, value)) throw MissingParamException(name);
    return value;
  }

  ConfigurationLoader() : root_nh_("~") {}

};

inline ConfigurationLoader& configurationLoader()
{
  static ConfigurationLoader singleton;
  return singleton;
}

} //namespace object_manipulator

#endif