root / rgbdslam / src / parameter_server.h @ 9240aaa3
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1 | 9240aaa3 | Alex | /* This file is part of RGBDSLAM.
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2 | *
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3 | * RGBDSLAM is free software: you can redistribute it and/or modify
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4 | * it under the terms of the GNU General Public License as published by
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5 | * the Free Software Foundation, either version 3 of the License, or
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6 | * (at your option) any later version.
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7 | *
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8 | * RGBDSLAM is distributed in the hope that it will be useful,
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9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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11 | * GNU General Public License for more details.
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12 | *
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13 | * You should have received a copy of the GNU General Public License
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14 | * along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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15 | */
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16 | #ifndef PARAMETER_SERVER_H_
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17 | #define PARAMETER_SERVER_H_
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18 | #include <string> |
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19 | #include <ros/ros.h> |
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20 | #include <boost/any.hpp> |
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21 | |||
22 | //this is a global definition of the points to be used
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23 | //changes to omit color would need adaptations in
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24 | //the visualization too
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25 | #include "pcl/point_cloud.h" |
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26 | #include "pcl/point_types.h" |
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27 | typedef pcl::PointXYZRGB point_type;
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28 | typedef pcl::PointCloud<point_type> pointcloud_type;
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29 | #define CONCURRENT_EDGE_COMPUTATION
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30 | |||
31 | /*!
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32 | * \brief Getting values from parameter server
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33 | * This class is used for getting the parameters from
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34 | * the parameter server
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35 | */
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36 | class ParameterServer { |
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37 | public:
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38 | /*!
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39 | * Returns the singleton instance
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40 | */
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41 | static ParameterServer* instance();
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42 | |||
43 | /*!
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44 | * The method returns a value from the local cache.
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45 | * You can use bool, int, double and std::string for T
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46 | *
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47 | * \param param the name of the parameter
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48 | * \return the parameter value
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49 | */
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50 | template<typename T> |
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51 | T get(const std::string param) {
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52 | ROS_ERROR_COND(config.count(param)==0, "ParameterServer object queried for invalid parameter \"%s\"", param.c_str()); |
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53 | boost::any value = config[param]; |
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54 | return boost::any_cast<T>(value);
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55 | } |
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56 | |||
57 | private:
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58 | std::map<std::string, boost::any> config; |
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59 | |||
60 | static ParameterServer* _instance;
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61 | std::string pre; |
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62 | ros::NodeHandle handle; |
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63 | |||
64 | /*!
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65 | * Default constructor
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66 | * private, because of singleton
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67 | */
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68 | ParameterServer(); |
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69 | |||
70 | /*!
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71 | * Receives all values from the parameter server and store them
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72 | * in the map 'config'.
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73 | * Will be called in the constructor
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74 | */
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75 | void getValues();
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76 | |||
77 | /*!
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78 | * Loads the default configuration
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79 | */
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80 | void defaultConfig();
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81 | |||
82 | /*!
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83 | * Returns a value from the parameter server
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84 | * Will only be used by getValue()
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85 | *
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86 | * \param param name of the parameter
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87 | * \param def default value (get through defaultConfig())
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88 | *
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89 | * \return the parameter value
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90 | */
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91 | template<typename T> |
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92 | T getFromParameterServer(const std::string param, T def) {
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93 | std::string fullParam = param; |
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94 | T result; |
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95 | handle.param(fullParam, result, def); |
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96 | return result;
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97 | } |
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98 | }; |
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99 | |||
100 | #endif /* PARAMETER_SERVER_H_ */ |