refactor of getter methods for datasets in hdf5_core

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/hdf5_core_general.h

@@ -222,30 +222,43 @@ class Hdf5CoreGeneral
   std::shared_ptr<HighFive::Group> getHdf5Group(const std::string& group_path, bool create = true);
 
   /**
-   * @brief Get a shared pointer to a hdf5 data set specified by the hdf5DataSetPath
+   * @brief Returns a shared pointer to a HighFive::DataSet object for the given dataset path.
    *
-   * @tparam T type of the dataset
-   * @param hdf5DataSetPath path to the dataset
-   * @param dataSpace the data space to specify the dimensions of the dataset
-   * @return std::shared_ptr<HighFive::DataSet> shared pointer to the data set
+   * @param dataset_path The path to the dataset.
+   * @return std::shared_ptr<HighFive::DataSet> A shared pointer to the dataset object. Nullptr if the dataset does not exist.
+   */
+  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& dataset_path);
+
+  /**
+   * @brief Returns a shared pointer to a HighFive::DataSet object for the given dataset path and data space.
+   *
+   * A new dataset will be created if it does not already exist.
+   *
+   * @tparam T The data type of the dataset.
+   * @param dataset_path The path to the dataset.
+   * @param dataspace The data space of the dataset.
+   * @return std::shared_ptr<HighFive::DataSet> A shared pointer to the HighFive dataset object.
    */
   template <class T>
-  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& hdf5DataSetPath, HighFive::DataSpace& dataSpace);
+  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& dataset_path,
+                                                    const HighFive::DataSpace& dataspace);
 
   /**
-   * @brief Get a shared pointer to a hdf5 data set specified by the hdf5DataSetPath
+   * @brief Get a shared pointer to a HighFive::Dataset object for the given path, dataspace, and properties.
+   *
+   * A new dataset will be created if it does not already exist.
    *
-   * @tparam T type of the dataset
-   * @param hdf5DataSetPath path to the dataset
-   * @param dataSpace the data space to specify the dimensions of the dataset
-   * @param createProps properties for creation of the dataset
-   * @return std::shared_ptr<HighFive::DataSet> shared pointer to the data set
+   * @tparam T The datatype of the dataset.
+   * @param dataset_path The path to the dataset.
+   * @param dataspace The dataspace of the dataset.
+   * @param properties The properties of the dataset.
+   * @return std::shared_ptr<HighFive::DataSet> A shared pointer to the HDF5 dataset.
    */
   template <class T>
-  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& hdf5DataSetPath, HighFive::DataSpace& dataSpace,
-                                                    HighFive::DataSetCreateProps& createProps);
+  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& dataset_path,
+                                                    const HighFive::DataSpace& dataspace,
+                                                    const HighFive::DataSetCreateProps& properties);
 
-  std::shared_ptr<HighFive::DataSet> getHdf5DataSet(const std::string& hdf5DataSetPath);
   /**
    * @brief get the labels of a group/dataset matching the general prefix (label type) and return the labels matching
    * the specified type. Also extract the category from the postfix

seerep_hdf5/seerep_hdf5_core/include/seerep_hdf5_core/impl/hdf5_core_general.hpp

@@ -48,30 +48,21 @@ void Hdf5CoreGeneral::writeFrameId(HighFive::AnnotateTraits<C>& object, const st
 
 template <class T>
 std::shared_ptr<HighFive::DataSet> Hdf5CoreGeneral::getHdf5DataSet(const std::string& hdf5DataSetPath,
-                                                                   HighFive::DataSpace& dataSpace)
+                                                                   const HighFive::DataSpace& dataSpace)
 {
-  HighFive::DataSetCreateProps emptyProps;
-  return getHdf5DataSet<T>(hdf5DataSetPath, dataSpace, emptyProps);
+  return getHdf5DataSet<T>(hdf5DataSetPath, dataSpace, HighFive::DataSetCreateProps());
 }
 
 template <class T>
-std::shared_ptr<HighFive::DataSet> Hdf5CoreGeneral::getHdf5DataSet(const std::string& hdf5DataSetPath,
-                                                                   HighFive::DataSpace& dataSpace,
-                                                                   HighFive::DataSetCreateProps& createProps)
+std::shared_ptr<HighFive::DataSet> Hdf5CoreGeneral::getHdf5DataSet(const std::string& dataset_path,
+                                                                   const HighFive::DataSpace& dataspace,
+                                                                   const HighFive::DataSetCreateProps& properties)
 {
-  try
-  {
-    checkExists(hdf5DataSetPath);
-    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::trace)
-        << "hdf5 group" << hdf5DataSetPath << " already exists!";
-    return std::make_shared<HighFive::DataSet>(m_file->getDataSet(hdf5DataSetPath));
-  }
-  catch (std::invalid_argument const& e)
+  if (exists(dataset_path))
   {
-    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::trace)
-        << "hdf5 group " << hdf5DataSetPath << " does not exist! Creating a new group";
-    return std::make_shared<HighFive::DataSet>(m_file->createDataSet<T>(hdf5DataSetPath, dataSpace, createProps));
+    return std::make_shared<HighFive::DataSet>(m_file->getDataSet(dataset_path));
   }
+  return std::make_shared<HighFive::DataSet>(m_file->createDataSet<T>(dataset_path, dataspace, properties));
 }
 
 template <class T>

seerep_hdf5/seerep_hdf5_core/src/hdf5_core_general.cpp

@@ -443,10 +443,7 @@ std::shared_ptr<HighFive::DataSet> Hdf5CoreGeneral::getHdf5DataSet(const std::st
   {
     return std::make_shared<HighFive::DataSet>(m_file->getDataSet(hdf5DataSetPath));
   }
-  else
-  {
-    return nullptr;
-  }
+  return nullptr;
 }
 
 void Hdf5CoreGeneral::getLabelCategories(std::string id, std::string labelType,