utility.h

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/* Author: Zachary Kingston */

#ifndef SE2EZ_CORE_YAML_UTILITY_
#define SE2EZ_CORE_YAML_UTILITY_

#include <Eigen/Core>

#include <yaml-cpp/yaml.h>

#include <se2ez/core/log.h>

namespace se2ez
{
    namespace io
    {
        /** \brief Returns true if \e node is a valid YAML node.
         *  \param[in] node Node to check.
         *  \return True if \e node is a YAML node.
         */
        bool isNode(const YAML::Node &node);

        /** \brief Convert a sequence of doubles in YAML to an Eigen vector.
         *  \param[in] node Node to parse.
         *  \return The contents of the node as an Eigen vector.
         */
        Eigen::VectorXd toVector(const YAML::Node &node);

        /** \brief Convert a sequence of doubles in an Eigen vector to YAML.
         *  \param[in] vec Vector to convert
         *  \return The contents of the node as a YAML node.
         */
        YAML::Node toVector(const Eigen::Ref<const Eigen::VectorXd> &vec);

        /** \brief Convenience function to print out a YAML error message with line and column information.
         *  \param[in] node Node that was culprit.
         *  \param[in] fmt Format string for error message.
         *  \param[in] args Arguments to format string.
         *  \tparam Args Variadic arguments for format string.
         *  \throws std::runtime_error always.
         */
        template <typename... Args>
        void throwParsingError[[noreturn]](const YAML::Node &node, const std::string &fmt, Args &&... args)
        {
            const auto &mark = node.Mark();
            const std::string &error =
                log::format("[line: %1%][col: %2%] YAML Error: %3%", mark.line, mark.column, fmt);
            const std::string &message = log::format(error, std::forward<Args>(args)...);
            throw std::runtime_error(message);
        }
    }  // namespace io
}  // namespace se2ez

#endif