Program Listing for File parameter_base.hpp

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#ifndef FUSE_MODELS__PARAMETERS__PARAMETER_BASE_HPP_
#define FUSE_MODELS__PARAMETERS__PARAMETER_BASE_HPP_

#include <stdexcept>
#include <string>
#include <vector>

#include <fuse_models/common/sensor_config.hpp>
#include <fuse_core/parameter.hpp>


namespace fuse_models
{

namespace parameters
{

struct ParameterBase
{
  ParameterBase() = default;
  virtual ~ParameterBase() = default;

  virtual void loadFromROS(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    const std::string & ns) = 0;
};

template<typename T>
inline std::vector<size_t> loadSensorConfig(
  fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Parameters> interfaces,
  const std::string & name)
{
  std::vector<std::string> dimensions;
  dimensions = fuse_core::getParam(interfaces, name, dimensions);
  if (!dimensions.empty()) {
    return common::getDimensionIndices<T>(dimensions);
  }

  return {};
}

}  // namespace parameters

}  // namespace fuse_models

#endif  // FUSE_MODELS__PARAMETERS__PARAMETER_BASE_HPP_