Contains functions which allow you to query the parameter server. More...

Typedefs
typedef std::map< std::string, XmlRpc::XmlRpcValue >	M_Param

Functions
bool	del (const std::string &key)
	Delete a parameter from the parameter server. More...

bool	get (const std::string &key, bool &b)
	Get a boolean value from the parameter server. More...

bool	get (const std::string &key, double &d)
	Get a double value from the parameter server. More...

bool	get (const std::string &key, float &f)
	Get a float value from the parameter server (internally using the double value). More...

bool	get (const std::string &key, int &i)
	Get an integer value from the parameter server. More...

bool	get (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server. More...

bool	get (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server. More...

bool	get (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server. More...

bool	get (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server. More...

bool	get (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server. More...

bool	get (const std::string &key, std::string &s)
	Get a string value from the parameter server. More...

bool	get (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server. More...

bool	get (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server. More...

bool	get (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server. More...

bool	get (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server. More...

bool	get (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server. More...

bool	get (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server. More...

bool	getCached (const std::string &key, bool &b)
	Get a boolean value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, double &d)
	Get a double value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, float &f)
	Get a float value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, int &i)
	Get an integer value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::map< std::string, bool > &map)
	Get a string->bool map value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::map< std::string, double > &map)
	Get a string->double map value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::map< std::string, float > &map)
	Get a string->float map value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::map< std::string, int > &map)
	Get a string->int map value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::map< std::string, std::string > &map)
	Get a string->string map value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::string &s)
	Get a string value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::vector< bool > &vec)
	Get a bool vector value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::vector< double > &vec)
	Get a double vector value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::vector< float > &vec)
	Get a float vector value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::vector< int > &vec)
	Get an int vector value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, std::vector< std::string > &vec)
	Get a string vector value from the parameter server, with local caching. More...

bool	getCached (const std::string &key, XmlRpc::XmlRpcValue &v)
	Get an arbitrary XML/RPC value from the parameter server, with local caching. More...

bool	getImpl (const std::string &key, bool &b, bool use_cache)

bool	getImpl (const std::string &key, double &d, bool use_cache)

bool	getImpl (const std::string &key, float &f, bool use_cache)

bool	getImpl (const std::string &key, int &i, bool use_cache)

template<class T >
bool	getImpl (const std::string &key, std::map< std::string, T > &map, bool cached)

bool	getImpl (const std::string &key, std::string &s, bool use_cache)

template<class T >
bool	getImpl (const std::string &key, std::vector< T > &vec, bool cached)

bool	getImpl (const std::string &key, XmlRpc::XmlRpcValue &v, bool use_cache)

bool	getParamNames (std::vector< std::string > &keys)
	Get the list of all the parameters in the server. More...

bool	has (const std::string &key)
	Check whether a parameter exists on the parameter server. More...

void	init (const M_string &remappings)

void	invalidateParentParams (const std::string &key)

template<typename T >
T	param (const std::string &param_name, const T &default_val)
	Return value from parameter server, or default if unavailable. More...

template<typename T >
bool	param (const std::string &param_name, T &param_val, const T &default_val)
	Assign value from parameter server, with default. More...

void	paramUpdateCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

bool	search (const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name. More...

bool	search (const std::string &ns, const std::string &key, std::string &result)
	Search up the tree for a parameter with a given key. More...

void	set (const std::string &key, bool b)
	Set a bool value on the parameter server. More...

void	set (const std::string &key, const char *s)
	Set a string value on the parameter server. More...

void	set (const std::string &key, const std::map< std::string, bool > &map)
	Set a string->bool map value on the parameter server. More...

void	set (const std::string &key, const std::map< std::string, double > &map)
	Set a string->double map value on the parameter server. More...

void	set (const std::string &key, const std::map< std::string, float > &map)
	Set a string->float map value on the parameter server. More...

void	set (const std::string &key, const std::map< std::string, int > &map)
	Set a string->int map value on the parameter server. More...

void	set (const std::string &key, const std::map< std::string, std::string > &map)
	Set a string->string map value on the parameter server. More...

void	set (const std::string &key, const std::string &s)
	Set a string value on the parameter server. More...

void	set (const std::string &key, const std::vector< bool > &vec)
	Set a bool vector value on the parameter server. More...

void	set (const std::string &key, const std::vector< double > &vec)
	Set a double vector value on the parameter server. More...

void	set (const std::string &key, const std::vector< float > &vec)
	Set a float vector value on the parameter server. More...

void	set (const std::string &key, const std::vector< int > &vec)
	Set an integer vector value on the parameter server. More...

void	set (const std::string &key, const std::vector< std::string > &vec)
	Set a string vector value on the parameter server. More...

void	set (const std::string &key, const XmlRpc::XmlRpcValue &v)
	Set an arbitrary XML/RPC value on the parameter server. More...

void	set (const std::string &key, double d)
	Set a double value on the parameter server. More...

void	set (const std::string &key, int i)
	Set an integer value on the parameter server. More...

template<class T >
void	setImpl (const std::string &key, const std::map< std::string, T > &map)

template<class T >
void	setImpl (const std::string &key, const std::vector< T > &vec)

void	update (const std::string &key, const XmlRpc::XmlRpcValue &v)

template<class T >
T	xml_cast (XmlRpc::XmlRpcValue xml_value)

template<>
double	xml_cast (XmlRpc::XmlRpcValue xml_value)

template<class T >
bool	xml_castable (int XmlType)

template<>
bool	xml_castable< bool > (int XmlType)

template<>
bool	xml_castable< double > (int XmlType)

template<>
bool	xml_castable< float > (int XmlType)

template<>
bool	xml_castable< int > (int XmlType)

template<>
bool	xml_castable< std::string > (int XmlType)

Variables
M_Param	g_params

std::mutex	g_params_mutex

S_string	g_subscribed_params

Detailed Description

Contains functions which allow you to query the parameter server.

Typedef Documentation

◆ M_Param

typedef std::map<std::string, XmlRpc::XmlRpcValue> roswrap::param::M_Param

Definition at line 47 of file param_modi.cpp.

Function Documentation

◆ del()

ROSCPP_DECL bool roswrap::param::del ( const std::string & key )

Delete a parameter from the parameter server.

Parameters

key	The key to delete.

Returns: true if the deletion succeeded, false otherwise.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 227 of file param_modi.cpp.

◆ get() [1/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 434 of file param_modi.cpp.

◆ get() [2/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 419 of file param_modi.cpp.

◆ get() [3/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server (internally using the double value).

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 424 of file param_modi.cpp.

◆ get() [4/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 429 of file param_modi.cpp.

◆ get() [5/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 696 of file param_modi.cpp.

◆ get() [6/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 684 of file param_modi.cpp.

◆ get() [7/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 688 of file param_modi.cpp.

◆ get() [8/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 692 of file param_modi.cpp.

◆ get() [9/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 680 of file param_modi.cpp.

◆ get() [10/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 414 of file param_modi.cpp.

◆ get() [11/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 625 of file param_modi.cpp.

◆ get() [12/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 613 of file param_modi.cpp.

◆ get() [13/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 617 of file param_modi.cpp.

◆ get() [14/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 621 of file param_modi.cpp.

◆ get() [15/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 609 of file param_modi.cpp.

◆ get() [16/16]

ROSCPP_DECL bool roswrap::param::get	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 439 of file param_modi.cpp.

◆ getCached() [1/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		bool &	b
	)

Get a boolean value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	b	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 464 of file param_modi.cpp.

◆ getCached() [2/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		double &	d
	)

Get a double value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	d	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 449 of file param_modi.cpp.

◆ getCached() [3/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		float &	f
	)

Get a float value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	f	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 454 of file param_modi.cpp.

◆ getCached() [4/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		int &	i
	)

Get an integer value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	i	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 459 of file param_modi.cpp.

◆ getCached() [5/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::map< std::string, bool > &	map
	)

Get a string->bool map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 717 of file param_modi.cpp.

◆ getCached() [6/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::map< std::string, double > &	map
	)

Get a string->double map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 705 of file param_modi.cpp.

◆ getCached() [7/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::map< std::string, float > &	map
	)

Get a string->float map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 709 of file param_modi.cpp.

◆ getCached() [8/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::map< std::string, int > &	map
	)

Get a string->int map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 713 of file param_modi.cpp.

◆ getCached() [9/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::map< std::string, std::string > &	map
	)

Get a string->string map value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	map	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 701 of file param_modi.cpp.

◆ getCached() [10/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::string &	s
	)

Get a string value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	s	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 444 of file param_modi.cpp.

◆ getCached() [11/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::vector< bool > &	vec
	)

Get a bool vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 646 of file param_modi.cpp.

◆ getCached() [12/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::vector< double > &	vec
	)

Get a double vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 634 of file param_modi.cpp.

◆ getCached() [13/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::vector< float > &	vec
	)

Get a float vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 638 of file param_modi.cpp.

◆ getCached() [14/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::vector< int > &	vec
	)

Get an int vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 642 of file param_modi.cpp.

◆ getCached() [15/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		std::vector< std::string > &	vec
	)

Get a string vector value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	vec	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 630 of file param_modi.cpp.

◆ getCached() [16/16]

ROSCPP_DECL bool roswrap::param::getCached	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v
	)

Get an arbitrary XML/RPC value from the parameter server, with local caching.

This function will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.

Parameters

	key	The key to be used in the parameter server's dictionary
[out]	v	Storage for the retrieved value.

Returns: true if the parameter value was retrieved, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 469 of file param_modi.cpp.

◆ getImpl() [1/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		bool &	b,
		bool	use_cache
	)

Definition at line 403 of file param_modi.cpp.

◆ getImpl() [2/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		double &	d,
		bool	use_cache
	)

Definition at line 335 of file param_modi.cpp.

◆ getImpl() [3/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		float &	f,
		bool	use_cache
	)

Definition at line 359 of file param_modi.cpp.

◆ getImpl() [4/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		int &	i,
		bool	use_cache
	)

Definition at line 368 of file param_modi.cpp.

◆ getImpl() [5/8]

template<class T >

bool roswrap::param::getImpl	(	const std::string &	key,
		std::map< std::string, T > &	map,
		bool	cached
	)

Definition at line 652 of file param_modi.cpp.

◆ getImpl() [6/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		std::string &	s,
		bool	use_cache
	)

Definition at line 324 of file param_modi.cpp.

◆ getImpl() [7/8]

template<class T >

bool roswrap::param::getImpl	(	const std::string &	key,
		std::vector< T > &	vec,
		bool	cached
	)

Definition at line 582 of file param_modi.cpp.

◆ getImpl() [8/8]

bool roswrap::param::getImpl	(	const std::string &	key,
		XmlRpc::XmlRpcValue &	v,
		bool	use_cache
	)

Definition at line 252 of file param_modi.cpp.

◆ getParamNames()

ROSCPP_DECL bool roswrap::param::getParamNames ( std::vector< std::string > & keys )

Get the list of all the parameters in the server.

Parameters

keys	The vector of all the keys

Returns: false if the process fails

Definition at line 722 of file param_modi.cpp.

◆ has()

ROSCPP_DECL bool roswrap::param::has ( const std::string & key )

Check whether a parameter exists on the parameter server.

Parameters

key	The key to check.

Returns: true if the parameter exists, false otherwise

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 210 of file param_modi.cpp.

◆ init()

void roswrap::param::init ( const M_string & remappings )

Definition at line 809 of file param_modi.cpp.

◆ invalidateParentParams()

void roswrap::param::invalidateParentParams ( const std::string & key )

Definition at line 52 of file param_modi.cpp.

◆ param() [1/2]

template<typename T >

T roswrap::param::param	(	const std::string &	param_name,
		const T &	default_val
	)

Return value from parameter server, or default if unavailable.

This method tries to retrieve the indicated parameter value from the parameter server. If the parameter cannot be retrieved, default_val is returned instead.

Parameters

param_name	The key to be searched on the parameter server.
default_val	Value to return if the server doesn't contain this parameter.

Returns: The parameter value retrieved from the parameter server, or default_val if unavailable.

Exceptions

InvalidNameException If the key is not a valid graph resource name.

Definition at line 641 of file param_modi.h.

◆ param() [2/2]

template<typename T >

bool roswrap::param::param	(	const std::string &	param_name,
		T &	param_val,
		const T &	default_val
	)

Assign value from parameter server, with default.

This method tries to retrieve the indicated parameter value from the parameter server, storing the result in param_val. If the value cannot be retrieved from the server, default_val is used instead.

Parameters

	param_name	The key to be searched on the parameter server.
[out]	param_val	Storage for the retrieved value.
	default_val	Value to use if the server doesn't contain this parameter.

Returns: true if the parameter was retrieved from the server, false otherwise.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 609 of file param_modi.h.

◆ paramUpdateCallback()

void roswrap::param::paramUpdateCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 800 of file param_modi.cpp.

◆ search() [1/2]

ROSCPP_DECL bool roswrap::param::search	(	const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key. This version defaults to starting in the current node's name.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters

	key	the parameter to search for
[out]	result	the found value (if any)

Returns: true if the parameter was found, false otherwise.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 752 of file param_modi.cpp.

◆ search() [2/2]

ROSCPP_DECL bool roswrap::param::search	(	const std::string &	ns,
		const std::string &	key,
		std::string &	result
	)

Search up the tree for a parameter with a given key.

This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you specify the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.

Parameters

	ns	The namespace to begin the search in
	key	the parameter to search for
[out]	result	the found value (if any)

Returns: true if the parameter was found, false otherwise.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 757 of file param_modi.cpp.

◆ set() [1/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		bool	b
	)

Set a bool value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
b	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 122 of file param_modi.cpp.

◆ set() [2/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const char *	s
	)

Set a string value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 101 of file param_modi.cpp.

◆ set() [3/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::map< std::string, bool > &	map
	)

Set a string->bool map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 205 of file param_modi.cpp.

◆ set() [4/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::map< std::string, double > &	map
	)

Set a string->double map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 190 of file param_modi.cpp.

◆ set() [5/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::map< std::string, float > &	map
	)

Set a string->float map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 195 of file param_modi.cpp.

◆ set() [6/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::map< std::string, int > &	map
	)

Set a string->int map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 200 of file param_modi.cpp.

◆ set() [7/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::map< std::string, std::string > &	map
	)

Set a string->string map value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
map	The map value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 185 of file param_modi.cpp.

◆ set() [8/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::string &	s
	)

Set a string value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
s	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 93 of file param_modi.cpp.

◆ set() [9/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::vector< bool > &	vec
	)

Set a bool vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 164 of file param_modi.cpp.

◆ set() [10/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::vector< double > &	vec
	)

Set a double vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 149 of file param_modi.cpp.

◆ set() [11/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::vector< float > &	vec
	)

Set a float vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 154 of file param_modi.cpp.

◆ set() [12/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::vector< int > &	vec
	)

Set an integer vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 159 of file param_modi.cpp.

◆ set() [13/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const std::vector< std::string > &	vec
	)

Set a string vector value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
vec	The vector value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 144 of file param_modi.cpp.

◆ set() [14/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Set an arbitrary XML/RPC value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
v	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 66 of file param_modi.cpp.

◆ set() [15/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		double	d
	)

Set a double value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
d	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 110 of file param_modi.cpp.

◆ set() [16/16]

ROSCPP_DECL void roswrap::param::set	(	const std::string &	key,
		int	i
	)

Set an integer value on the parameter server.

Parameters

key	The key to be used in the parameter server's dictionary
i	The value to be inserted.

Exceptions

InvalidNameException if the key is not a valid graph resource name

Definition at line 116 of file param_modi.cpp.

◆ setImpl() [1/2]

template<class T >

void roswrap::param::setImpl	(	const std::string &	key,
		const std::map< std::string, T > &	map
	)

Definition at line 170 of file param_modi.cpp.

◆ setImpl() [2/2]

template<class T >

void roswrap::param::setImpl	(	const std::string &	key,
		const std::vector< T > &	vec
	)

Definition at line 129 of file param_modi.cpp.

◆ update()

void roswrap::param::update	(	const std::string &	key,
		const XmlRpc::XmlRpcValue &	v
	)

Definition at line 786 of file param_modi.cpp.

◆ xml_cast() [1/2]

template<class T >

T roswrap::param::xml_cast ( XmlRpc::XmlRpcValue xml_value )

Definition at line 474 of file param_modi.cpp.

◆ xml_cast() [2/2]

template<>

bool roswrap::param::xml_cast ( XmlRpc::XmlRpcValue xml_value )

Definition at line 521 of file param_modi.cpp.

◆ xml_castable()

template<class T >

bool roswrap::param::xml_castable ( int XmlType )

Definition at line 479 of file param_modi.cpp.

◆ xml_castable< bool >()

template<>

bool roswrap::param::xml_castable< bool > ( int XmlType )

Definition at line 513 of file param_modi.cpp.

◆ xml_castable< double >()

template<>

bool roswrap::param::xml_castable< double > ( int XmlType )

Definition at line 489 of file param_modi.cpp.

◆ xml_castable< float >()

template<>

bool roswrap::param::xml_castable< float > ( int XmlType )

Definition at line 497 of file param_modi.cpp.

◆ xml_castable< int >()

template<>

bool roswrap::param::xml_castable< int > ( int XmlType )

Definition at line 505 of file param_modi.cpp.

◆ xml_castable< std::string >()

template<>

bool roswrap::param::xml_castable< std::string > ( int XmlType )

Definition at line 484 of file param_modi.cpp.

Variable Documentation

◆ g_params

M_Param roswrap::param::g_params

Definition at line 48 of file param_modi.cpp.

◆ g_params_mutex

std::mutex roswrap::param::g_params_mutex

Definition at line 49 of file param_modi.cpp.

◆ g_subscribed_params

S_string roswrap::param::g_subscribed_params

Definition at line 50 of file param_modi.cpp.

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ M_Param

Function Documentation

◆ del()

◆ get() [1/16]

◆ get() [2/16]

◆ get() [3/16]

◆ get() [4/16]

◆ get() [5/16]

◆ get() [6/16]

◆ get() [7/16]

◆ get() [8/16]

◆ get() [9/16]

◆ get() [10/16]

◆ get() [11/16]

◆ get() [12/16]

◆ get() [13/16]

◆ get() [14/16]

◆ get() [15/16]

◆ get() [16/16]

◆ getCached() [1/16]

◆ getCached() [2/16]

◆ getCached() [3/16]

◆ getCached() [4/16]

◆ getCached() [5/16]

◆ getCached() [6/16]

◆ getCached() [7/16]

◆ getCached() [8/16]

◆ getCached() [9/16]

◆ getCached() [10/16]

◆ getCached() [11/16]

◆ getCached() [12/16]

◆ getCached() [13/16]

◆ getCached() [14/16]

◆ getCached() [15/16]

◆ getCached() [16/16]

◆ getImpl() [1/8]

◆ getImpl() [2/8]

◆ getImpl() [3/8]

◆ getImpl() [4/8]

◆ getImpl() [5/8]

◆ getImpl() [6/8]

◆ getImpl() [7/8]

◆ getImpl() [8/8]

◆ getParamNames()

◆ has()

◆ init()

◆ invalidateParentParams()

◆ param() [1/2]

◆ param() [2/2]

◆ paramUpdateCallback()

◆ search() [1/2]

◆ search() [2/2]

◆ set() [1/16]

◆ set() [2/16]

◆ set() [3/16]

◆ set() [4/16]

◆ set() [5/16]

◆ set() [6/16]

◆ set() [7/16]

◆ set() [8/16]

◆ set() [9/16]

◆ set() [10/16]

◆ set() [11/16]

◆ set() [12/16]

◆ set() [13/16]

◆ set() [14/16]

◆ set() [15/16]

◆ set() [16/16]

◆ setImpl() [1/2]

◆ setImpl() [2/2]

◆ update()

◆ xml_cast() [1/2]

◆ xml_cast() [2/2]

◆ xml_castable()

◆ xml_castable< bool >()