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Support loading lists of booleans from parameter server #6

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Support loading lists of booleans from parameter server #6

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743f9d6
Use templating with DebugArrayString(..).
gavanderhoorn Feb 6, 2019
f7fdbdf
Add get(..) overload for vector of bool.
gavanderhoorn Feb 6, 2019
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20 changes: 18 additions & 2 deletions include/rosparam_shortcuts/rosparam_shortcuts.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -96,11 +99,24 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
/**
* \brief Output a string of values from an array for debugging
* \param array of values
* \tparam ValueType Type of the elements in @values
* \return string of numbers separated by commas
*/
std::string getDebugArrayString(std::vector<double> values);
template <typename ValueType>
std::string getDebugArrayString(std::vector<ValueType> values)
{
std::string debug_values{};
for (const auto &value : values) debug_values += std::to_string(value) + ",";
return debug_values;
}

std::string getDebugArrayString(std::vector<std::string> values);
template <>
std::string getDebugArrayString(std::vector<std::string> values)
{
std::string debug_values{};
for (const auto &value : values) debug_values += value + ",";
return debug_values;
}

/**
* \brief Convert from 6 doubles of [x,y,z] [r,p,y] or 7 doubles of [x, y, z, qw, qx, qy, qz] to a transform
Expand Down
41 changes: 21 additions & 20 deletions src/rosparam_shortcuts.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -233,26 +254,6 @@ bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::s
return true;
}

std::string getDebugArrayString(std::vector<double> values)
{
std::stringstream debug_values;
for (std::size_t i = 0; i < values.size(); ++i)
{
debug_values << values[i] << ",";
}
return debug_values.str();
}

std::string getDebugArrayString(std::vector<std::string> values)
{
std::stringstream debug_values;
for (std::size_t i = 0; i < values.size(); ++i)
{
debug_values << values[i] << ",";
}
return debug_values.str();
}

bool convertDoublesToEigen(const std::string &parent_name, std::vector<double> values, Eigen::Affine3d &transform)
{
if (values.size() == 6)
Expand Down