Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef PARAMETER_SERVER_H_

#define PARAMETER_SERVER_H_

#include <string>

#include <ros/ros.h>

#include <boost/any.hpp>

//this is a global definition of the points to be used

//changes to omit color would need adaptations in 

//the visualization too

#include "pcl/point_cloud.h"

#include "pcl/point_types.h"

typedef pcl::PointXYZRGB point_type;

typedef pcl::PointCloud<point_type> pointcloud_type;

#define CONCURRENT_EDGE_COMPUTATION

/*!

 * \brief Getting values from parameter server

 * This class is used for getting the parameters from

 * the parameter server

 */

class ParameterServer {

public:

    /*!

     * Returns the singleton instance

     */

    static ParameterServer* instance();

    /*!

     * The method returns a value from the local cache.

     * You can use bool, int, double and std::string for T

     *

     * \param param the name of the parameter

     * \return the parameter value

     */

    template<typename T>

    T get(const std::string param) {

        ROS_ERROR_COND(config.count(param)==0, "ParameterServer object queried for invalid parameter \"%s\"", param.c_str());

        boost::any value = config[param];

        return boost::any_cast<T>(value);

    }

private:

    std::map<std::string, boost::any> config;

    static ParameterServer* _instance;

    std::string pre;

    ros::NodeHandle handle;

    /*!

     * Default constructor

     * private, because of singleton

     */

    ParameterServer();

    /*!

     * Receives all values from the parameter server and store them

     * in the map 'config'.

     * Will be called in the constructor

     */

    void getValues();

    /*!

     * Loads the default configuration

     */

    void defaultConfig();

    /*!

     * Returns a value from the parameter server

     * Will only be used by getValue()

     *

     * \param param name of the parameter

     * \param def default value (get through defaultConfig())

     *

     * \return the parameter value

     */

    template<typename T>

    T getFromParameterServer(const std::string param, T def) {

        std::string fullParam = param;

        T result;

        handle.param(fullParam, result, def);

        return result;

    }

};

#endif /* PARAMETER_SERVER_H_ */