Program Listing for File parameter_adapter.hpp

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// Imported from
// https://github.com/ros/ros_comm/blob/a2ca01ecf31d677dd5c1b08cc6852bd0dac02b97/clients/roscpp/include/ros/parameter_adapter.h

#ifndef MESSAGE_FILTERS__PARAMETER_ADAPTER_HPP_
#define MESSAGE_FILTERS__PARAMETER_ADAPTER_HPP_

#include <memory>
#include <type_traits>

#include "message_filters/message_event.hpp"

namespace message_filters
{

template<typename M>
struct ParameterAdapter
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef M Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event & event)
  {
    return *event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const std::shared_ptr<M const> &>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const std::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event & event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const std::shared_ptr<M> &>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event & event)
  {
    return MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const M &>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const M & Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event & event)
  {
    return *event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<std::shared_ptr<M const>>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event & event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<std::shared_ptr<M>>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef std::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event & event)
  {
    return MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const MessageEvent<M const> &>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef const MessageEvent<Message const> & Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event & event)
  {
    return event;
  }
};

template<typename M>
struct ParameterAdapter<const MessageEvent<M> &>
{
  typedef typename std::remove_reference<typename std::remove_const<M>::type>::type Message;
  typedef MessageEvent<Message const> Event;
  typedef MessageEvent<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event & event)
  {
    return MessageEvent<Message>(event);
  }
};

}  // namespace message_filters

#endif  // MESSAGE_FILTERS__PARAMETER_ADAPTER_HPP_