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<div class="title">TParameters.h</div> </div>
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<a href="_t_parameters_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_utils_parameters_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_utils_parameters_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <cstdarg></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <map></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <string></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>utils
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** For usage when passing a dynamic number of (numeric) arguments to a function, by name.</span>
<a name="l00041"></a>00041 <span class="comment"> * \code</span>
<a name="l00042"></a>00042 <span class="comment"> * TParameters<double> p; // or TParametersDouble</span>
<a name="l00043"></a>00043 <span class="comment"> * p["v_max"] = 1.0; // Write</span>
<a name="l00044"></a>00044 <span class="comment"> * ...</span>
<a name="l00045"></a>00045 <span class="comment"> * cout << p["w_max"]; // Read, even if "p" was const.</span>
<a name="l00046"></a>00046 <span class="comment"> * \endcode</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * A default list of parameters can be passed to the constructor as a sequence</span>
<a name="l00049"></a>00049 <span class="comment"> * of pairs "name, value", which MUST end in a NULL name string. Names MUST BE "const char*"</span>
<a name="l00050"></a>00050 <span class="comment"> * (that is, "old plain strings" are OK), not std::string objects!.</span>
<a name="l00051"></a>00051 <span class="comment"> * See this example:</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * \code</span>
<a name="l00054"></a>00054 <span class="comment"> * TParameters<double> p("par1",2.0, "par2",-4.5, "par3",9.0, NULL); // MUST end with a NULL</span>
<a name="l00055"></a>00055 <span class="comment"> * \endcode</span>
<a name="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * <b>VERY IMPORTANT:</b> If you use the NULL-ended constructor above, make sure all the values are of the proper</span>
<a name="l00058"></a>00058 <span class="comment"> * type or it will crash in runtime. For example, in a TParametersDouble all values must be double's, so</span>
<a name="l00059"></a>00059 <span class="comment"> * if you type "10" the compiler will make it an "int". Instead, write "10.0".</span>
<a name="l00060"></a>00060 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00061"></a>00061 <span class="comment"> * \sa the example in MRPT/samples/params-by-name</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00064"></a>00064 <span class="keyword">struct </span>TParameters : <span class="keyword">public</span> std::map<std::string,T>
<a name="l00065"></a>00065 {
<a name="l00066"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#aaa3e460b0bcbf1a7288bdbc37179688d">00066</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1map.html">::map<std::string,T></a> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#aaa3e460b0bcbf1a7288bdbc37179688d">BASE</a>;<span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Default constructor (initializes empty) */</span>
<a name="l00068"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a437c0f304145a2629ab42dbaf91b3390">00068</a> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a437c0f304145a2629ab42dbaf91b3390" title="Default constructor (initializes empty)">TParameters</a>() : <a class="code" href="classstd_1_1map.html">BASE</a>() { }<span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** Constructor with a list of initial values (see the description and use example in mrpt::utils::TParameters) */</span>
<a name="l00070"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a63e540638c71d87217b496b910a12894">00070</a> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a63e540638c71d87217b496b910a12894" title="Constructor with a list of initial values (see the description and use example in mrpt::utils::TParam...">TParameters</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *nam1,...) : <a class="code" href="classstd_1_1map.html">BASE</a>() {
<a name="l00071"></a>00071 <span class="keywordflow">if</span> (!nam1) <span class="keywordflow">return</span>; <span class="comment">// No parameters</span>
<a name="l00072"></a>00072 T val;
<a name="l00073"></a>00073 va_list args;
<a name="l00074"></a>00074 va_start(args,nam1);
<a name="l00075"></a>00075 <span class="comment">// 1st one out of the loop:</span>
<a name="l00076"></a>00076 val = va_arg(args,T);
<a name="l00077"></a>00077 <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a8c8b755b7848fd23bdca395b527bfd25" title="A const version of the [] operator, for usage as read-only.">BASE::operator[]</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(nam1)) = val;
<a name="l00078"></a>00078 <span class="comment">// Loop until NULL:</span>
<a name="l00079"></a>00079 <span class="keyword">const</span> <span class="keywordtype">char</span> *nam;
<a name="l00080"></a>00080 <span class="keywordflow">do</span>{
<a name="l00081"></a>00081 nam = va_arg(args,<span class="keyword">const</span> <span class="keywordtype">char</span>*);
<a name="l00082"></a>00082 <span class="keywordflow">if</span> (nam) {
<a name="l00083"></a>00083 val = va_arg(args,T);
<a name="l00084"></a>00084 <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a8c8b755b7848fd23bdca395b527bfd25" title="A const version of the [] operator, for usage as read-only.">BASE::operator[]</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(nam)) = val;
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 } <span class="keywordflow">while</span> (nam);
<a name="l00087"></a>00087 va_end(args);
<a name="l00088"></a>00088 }
<a name="l00089"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a77a1cbc7e2a4a565ac49e8f0403eff1c">00089</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a77a1cbc7e2a4a565ac49e8f0403eff1c">has</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">std::map<std::string,T>::end</a>()!=BASE::find(s); }<span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** A const version of the [] operator, for usage as read-only.</span>
<a name="l00091"></a>00091 <span class="comment"> * \exception std::logic_error On parameter not present. Please, check existence with "has" before reading.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a8c8b755b7848fd23bdca395b527bfd25">00093</a> <span class="keyword">inline</span> T <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a8c8b755b7848fd23bdca395b527bfd25" title="A const version of the [] operator, for usage as read-only.">operator[]</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s)<span class="keyword"> const </span>{
<a name="l00094"></a>00094 <span class="keyword">typename</span> <a class="code" href="classstd_1_1map.html">BASE</a><a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::const_iterator</a> it =BASE::find(s);
<a name="l00095"></a>00095 <span class="keywordflow">if</span> (<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">BASE::end</a>()==it)
<a name="l00096"></a>00096 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1logic__error.html" title="STL class.">std::logic_error</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"Parameter '"</span>)+s+<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"' is not present."</span>).c_str());
<a name="l00097"></a>00097 <span class="keywordflow">return</span> it->second;
<a name="l00098"></a>00098 }<span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** A const version of the [] operator and with a default value in case the parameter is not set (for usage as read-only).</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76">00101</a> <span class="keyword">inline</span> T <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s, <span class="keyword">const</span> T& defaultVal)<span class="keyword"> const </span>{
<a name="l00102"></a>00102 <span class="keyword">typename</span> <a class="code" href="classstd_1_1map.html">BASE</a><a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::const_iterator</a> it =BASE::find(s);
<a name="l00103"></a>00103 <span class="keywordflow">if</span> (<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">BASE::end</a>()==it)
<a name="l00104"></a>00104 <span class="keywordflow">return</span> defaultVal;
<a name="l00105"></a>00105 <span class="keywordflow">else</span> <span class="keywordflow">return</span> it->second;
<a name="l00106"></a>00106 }<span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** The write (non-const) version of the [] operator. */</span>
<a name="l00108"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a12668850c281c3695bd120880e420171">00108</a> <span class="keyword">inline</span> T & <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a12668850c281c3695bd120880e420171" title="The write (non-const) version of the [] operator.">operator[]</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s) { <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a8c8b755b7848fd23bdca395b527bfd25" title="A const version of the [] operator, for usage as read-only.">BASE::operator[]</a>(s); }
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** Dumps to console the output from getAsString() */</span>
<a name="l00111"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ab0809883b3ce420fbbcff847e18b92bb">00111</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ab0809883b3ce420fbbcff847e18b92bb" title="Dumps to console the output from getAsString()">dumpToConsole</a>()<span class="keyword"> const </span>{ std::cout << <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a4e72b6c660a030a6baf7b334e28515ca" title="Returns a multi-like string representation of the parameters like : 'nam = val = val2...'.">getAsString</a>(); }
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Returns a multi-like string representation of the parameters like : 'nam = val\nnam2 = val2...' */</span>
<a name="l00114"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a4e72b6c660a030a6baf7b334e28515ca">00114</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a4e72b6c660a030a6baf7b334e28515ca" title="Returns a multi-like string representation of the parameters like : 'nam = val = val2...'.">getAsString</a>()<span class="keyword"> const </span>{ std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> s; <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a4e72b6c660a030a6baf7b334e28515ca" title="Returns a multi-like string representation of the parameters like : 'nam = val = val2...'.">getAsString</a>(s); <span class="keywordflow">return</span> s; }
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Returns a multi-like string representation of the parameters like : 'nam = val\nnam2 = val2...' */</span>
<a name="l00117"></a><a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a9da58d442d9b0d54e2330d2cfb159a67">00117</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#a9da58d442d9b0d54e2330d2cfb159a67" title="Returns a multi-like string representation of the parameters like : 'nam = val = val2...'.">getAsString</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s)<span class="keyword"> const </span>{
<a name="l00118"></a>00118 <span class="keywordtype">size_t</span> maxStrLen = 10;
<a name="l00119"></a>00119 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">BASE::const_iterator</a> it=<a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">BASE::begin</a>();it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">BASE::end</a>();++it) maxStrLen = std::max(maxStrLen, it->first.size() );
<a name="l00120"></a>00120 maxStrLen++;
<a name="l00121"></a>00121 std<a class="code" href="classstd_1_1stringstream.html" title="STL class.">::stringstream</a> str;
<a name="l00122"></a>00122 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">BASE::const_iterator</a> it=<a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">BASE::begin</a>();it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">BASE::end</a>();++it)
<a name="l00123"></a>00123 str << it->first << <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(maxStrLen-it->first.size(),<span class="charliteral">' '</span>) << <span class="stringliteral">" = "</span> << it->second << std::endl;
<a name="l00124"></a>00124 s = str.str();
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126 };
<a name="l00127"></a>00127
<a name="l00128"></a><a class="code" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">00128</a> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters<double></a> <a class="code" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb" title="See the generic template mrpt::utils::TParameters.">TParametersDouble</a>; <span class="comment">//!< See the generic template mrpt::utils::TParameters</span>
<a name="l00129"></a><a class="code" href="namespacemrpt_1_1utils.html#a53d400cb84997624634d404ca456cdb9">00129</a> <span class="comment"></span> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">TParameters<std::string></a> <a class="code" href="namespacemrpt_1_1utils.html#a53d400cb84997624634d404ca456cdb9" title="See the generic template mrpt::utils::TParameters.">TParametersString</a>; <span class="comment">//!< See the generic template mrpt::utils::TParameters</span>
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 } <span class="comment">// end namespace</span>
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="preprocessor">#endif</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span>
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