Add get(..) overload for vector of bool.

PickNikRobotics · Feb 17, 2019 · f7fdbdf · f7fdbdf
1 parent 743f9d6
commit f7fdbdf
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Showing 2 changed files with 24 additions and 0 deletions.
diff --git a/include/rosparam_shortcuts/rosparam_shortcuts.h b/include/rosparam_shortcuts/rosparam_shortcuts.h
@@ -78,6 +78,9 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
          std::vector<double> &values);
 
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         std::vector<bool> &values);
+
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value);
 
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, std::size_t &value);

diff --git a/src/rosparam_shortcuts.cpp b/src/rosparam_shortcuts.cpp
@@ -120,6 +120,27 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
   return true;
 }
 
+bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
+         std::vector<bool> &values)
+{
+  // Load a param
+  if (!nh.hasParam(param_name))
+  {
+    ROS_ERROR_STREAM_NAMED(parent_name, "Missing parameter '" << nh.getNamespace() << "/" << param_name << "'.");
+    return false;
+  }
+  nh.getParam(param_name, values);
+
+  if (values.empty())
+    ROS_WARN_STREAM_NAMED(parent_name, "Empty vector for parameter '" << nh.getNamespace() << "/" << param_name << "'"
+                                                                                                                   ".");
+
+  ROS_DEBUG_STREAM_NAMED(parent_name, "Loaded parameter '" << nh.getNamespace() << "/" << param_name
+                                                           << "' with values [" << getDebugArrayString(values) << "]");
+
+  return true;
+}
+
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name, int &value)
 {
   // Load a param