Utilities.hh

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/*
 * Copyright (C) 2019  Rhys Mainwaring
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef _WAVE_GAZEBO_PLUGINS_UTILITIES_HH_
#define _WAVE_GAZEBO_PLUGINS_UTILITIES_HH_

#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include <string>

// Forward Declarations

namespace gazebo
{
  namespace msgs
  {
    class Param_V;
  }
}

namespace sdf
{
  class Element;
}

namespace asv
{
// Utilities

  class Utilities
  {
    public: static bool SdfParamBool(sdf::Element& _sdf,
      const std::string &_paramName, const bool _defaultVal);


    public: static size_t SdfParamSizeT(sdf::Element& _sdf,
      const std::string &_paramName, const size_t _defaultVal);


    public: static double SdfParamDouble(sdf::Element& _sdf,
      const std::string &_paramName, const double _defaultVal);


    public: static std::string SdfParamString(sdf::Element& _sdf,
      const std::string &_paramName, const std::string &_defaultVal);


    public: static ignition::math::Vector2d SdfParamVector2(
      sdf::Element& _sdf,
      const std::string &_paramName,
      const ignition::math::Vector2d _defaultVal);


    public: static ignition::math::Vector3d SdfParamVector3(sdf::Element& _sdf,
      const std::string &_paramName,
      const ignition::math::Vector3d _defaultVal);
  };
}

#endif  // _WAVE_GAZEBO_PLUGINS_UTILITIES_HH_