robowflex::IO::Handler Class Reference

ROS parameter server handler to handle namespacing and automatic parameter deletion. More...

#include <handler.h>

Public Member Functions
	Handler (const std::string &name)
	Constructor. More...
	Handler (Handler const &)=delete
void	operator= (Handler const &)=delete
	Handler (const IO::Handler &handler, const std::string &name="")
	Copy constructor. Handles namespacing. More...
	~Handler ()
	Destructor. Deletes all parameters created through this handler. More...
void	loadYAMLtoROS (const YAML::Node &node, const std::string &prefix="")
	Loads the contents of a YAML node to the parameter server under a prefix. More...
template<typename T >
void	setParam (const std::string &key, const T &value)
	Sets a parameter on the parameter server. More...
bool	hasParam (const std::string &key) const
	Checks if the parameter server has key. More...
template<typename T >
bool	getParam (const std::string &key, T &value) const
	Gets a parameter from the parameter server. More...
const ros::NodeHandle &	getHandle () const
	Gets the node handle. More...
const std::string &	getName () const
	Gets the name of the handler. More...
const std::string &	getNamespace () const
	Gets the namespace of the handler. More...

Private Attributes
const std::string	name_
	Name of handler. More...
const std::string	namespace_
	Full namespace of handler. More...
ros::NodeHandle	nh_
	ROS node handle. More...
std::vector< std::string >	params_
	Set parameter keys. More...

Static Private Attributes
static const std::string	UUID
	UUID of handler. More...

Detailed Description

ROS parameter server handler to handle namespacing and automatic parameter deletion.

Definition at line 18 of file handler.h.

Constructor & Destructor Documentation

Handler() [1/3]

IO::Handler::Handler

(

const std::string &

name

)

Constructor.

Parameters

[in]

name

Name for namespace.

Definition at line 512 of file robowflex_library/src/io.cpp.

  : name_(name), namespace_("robowflex_" + UUID + "/" + name_), nh_(namespace_)
{
}

Handler() [2/3]

robowflex::IO::Handler::Handler ( Handler const &  )

delete

Handler() [3/3]

IO::Handler::Handler	(	const IO::Handler &	handler,
		const std::string &	name = ""
	)

Copy constructor. Handles namespacing.

Parameters

[in]	handler	Parent handler.
[in]	name	Additional namespace to add to parent handler.

Definition at line 517 of file robowflex_library/src/io.cpp.

  : name_(handler.getName()), namespace_(handler.getNamespace()), nh_(handler.getHandle(), name)
{
}

~Handler()

IO::Handler::~Handler

(

)

Destructor. Deletes all parameters created through this handler.

Definition at line 522 of file robowflex_library/src/io.cpp.

{
    for (const auto &key : params_)
        nh_.deleteParam(key);
}

Member Function Documentation

getHandle()

const ros::NodeHandle & IO::Handler::getHandle

(

)

const

Gets the node handle.

Returns

The node handle.

Definition at line 556 of file robowflex_library/src/io.cpp.

{
    return nh_;
}

getName()

const std::string & IO::Handler::getName

(

)

const

Gets the name of the handler.

Returns

The name of the handler.

Definition at line 561 of file robowflex_library/src/io.cpp.

{
    return name_;
}

getNamespace()

const std::string & IO::Handler::getNamespace

(

)

const

Gets the namespace of the handler.

Returns

The namespace of the handler.

Definition at line 566 of file robowflex_library/src/io.cpp.

{
    return namespace_;
}

getParam()

template<typename T >

bool robowflex::IO::Handler::getParam ( const std::string &  key, T &  value  ) const

inline

Gets a parameter from the parameter server.

Parameters

[in]	key	Key of parameter.
[out]	value	Value to store.

Template Parameters

T	Type of the value.

Definition at line 71 of file handler.h.

            {
                return nh_.getParam(key, value);
            }

hasParam()

bool IO::Handler::hasParam

(

const std::string &

key

)

const

Checks if the parameter server has key.

Parameters

[in]

key

Key to check.

Returns

True if key exists, false otherwise.

Definition at line 551 of file robowflex_library/src/io.cpp.

{
    return nh_.hasParam(key);
}

loadYAMLtoROS()

void IO::Handler::loadYAMLtoROS	(	const YAML::Node &	node,
		const std::string &	prefix = ""
	)

Loads the contents of a YAML node to the parameter server under a prefix.

Parameters

[in]	node	YAML node to load.
[in]	prefix	Prefix to put YAML node under.

Definition at line 528 of file robowflex_library/src/io.cpp.

{
    switch (node.Type())
    {
        case YAML::NodeType::Map:
        {
            const std::string fixed_prefix = (prefix.empty()) ? "" : (prefix + "/");
            for (YAML::const_iterator it = node.begin(); it != node.end(); ++it)
                loadYAMLtoROS(it->second, fixed_prefix + it->first.as<std::string>());
 
            break;
        }
        case YAML::NodeType::Sequence:
        case YAML::NodeType::Scalar:
        {
            setParam(prefix, YAMLToXmlRpc(node));
            break;
        }
        default:
            throw Exception(1, "Unknown node type in YAML");
    }
}

operator=()

void robowflex::IO::Handler::operator= ( Handler const &  )

delete

setParam()

template<typename T >

void robowflex::IO::Handler::setParam ( const std::string &  key, const T &  value  )

inline

Sets a parameter on the parameter server.

Parameters

[in]	key	Key to store parameter under.
[in]	value	Value to store.

Template Parameters

T	Type of the value.

Definition at line 53 of file handler.h.

            {
                nh_.setParam(key, value);
                params_.emplace_back(key);
            }

Member Data Documentation

name_

const std::string robowflex::IO::Handler::name_

private

Name of handler.

Definition at line 94 of file handler.h.

namespace_

const std::string robowflex::IO::Handler::namespace_

private

Full namespace of handler.

Definition at line 95 of file handler.h.

nh_

ros::NodeHandle robowflex::IO::Handler::nh_

private

ROS node handle.

Definition at line 96 of file handler.h.

params_

std::vector<std::string> robowflex::IO::Handler::params_

private

Set parameter keys.

Definition at line 98 of file handler.h.

UUID

const std::string IO::Handler::UUID

staticprivate

UUID of handler.

IO::Handler

Definition at line 92 of file handler.h.

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The documentation for this class was generated from the following files:

• handler.h
• robowflex_library/src/io.cpp