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<div class="title">CConfigFileBase.h</div> </div>
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<a href="_c_config_file_base_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 <span class="preprocessor">#ifndef CConfigFileBase_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CConfigFileBase_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_t_enum_type_8h.html">mrpt/utils/TEnumType.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_8h.html">mrpt/math/CMatrixTemplate.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="string__utils_8h.html">mrpt/system/string_utils.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="comment">/*---------------------------------------------------------------</span>
<a name="l00037"></a>00037 <span class="comment"> Class</span>
<a name="l00038"></a>00038 <span class="comment"> ---------------------------------------------------------------*/</span>
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>utils
<a name="l00042"></a>00042 {<span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment"> /** This class allows loading and storing values and vectors of different types from a configuration text, which can be implemented as a ".ini" file, a memory-stored string, etc...</span>
<a name="l00044"></a>00044 <span class="comment"> * This is a virtual class, use only as a pointer to an implementation of one of the derived classes.</span>
<a name="l00045"></a>00045 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a>00047 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CConfigFileBase
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** A virtual method to write a generic string.</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 <span class="keyword">virtual</span> <span class="keywordtype">void</span> writeString(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section,<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str) = 0;
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** A virtual method to read a generic string.</span>
<a name="l00055"></a>00055 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 <span class="keyword">virtual</span> std::string readString(
<a name="l00058"></a>00058 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section,
<a name="l00059"></a>00059 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name,
<a name="l00060"></a>00060 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &defaultStr,
<a name="l00061"></a>00061 <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span> = 0;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Virtual destructor...</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a><a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html#a60c5e578c8094419b0a2afc8e754f002">00066</a> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a>()
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Returns a list with all the section names.</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a>00072 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllSections( <a class="code" href="classstd_1_1vector.html">vector_string</a> &sections ) <span class="keyword">const</span> = 0 ;
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Returs a list with all the keys into a section.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAllKeys( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> section, <a class="code" href="classstd_1_1vector.html">vector_string</a> &keys ) <span class="keyword">const</span> = 0;
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Checks if a given section exists (name is case insensitive) */</span>
<a name="l00079"></a>00079 <span class="keywordtype">bool</span> sectionExists( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section_name) <span class="keyword">const</span>;
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Save a configuration parameter of type "double"</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">double</span> value);
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Save a configuration parameter of type "float"</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a>00087 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">float</span> value);
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Save a configuration parameter of type "int"</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">int</span> value);
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Save a configuration parameter of type "unsigned int"</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> value);
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="preprocessor">#if MRPT_WORD_SIZE>32</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="comment"> /** Save a configuration parameter of type "size_t"</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">size_t</span> value);
<a name="l00101"></a>00101 <span class="preprocessor">#endif</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** Save a configuration parameter of type "string"</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &value);
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Save a configuration parameter of type "std::vector<int>"</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<int></a> &value);
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Save a configuration parameter of type "std::vector<unsigned int>"</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<unsigned int></a> &value);
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Save a configuration parameter of type "std::vector<float>"</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &value);
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Save a configuration parameter of type "std::vector<double>"</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<double></a> &value);
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Save a configuration parameter of type "std::vector<bool>"</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keywordtype">void</span> write(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<bool></a> &value);
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Reads a configuration parameter of type "double"</span>
<a name="l00128"></a>00128 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00129"></a>00129 <span class="comment"> */</span>
<a name="l00130"></a>00130 <span class="keywordtype">double</span> read_double(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">double</span> defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Reads a configuration parameter of type "float"</span>
<a name="l00133"></a>00133 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a>00135 <span class="keywordtype">float</span> read_float(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">float</span> defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** Reads a configuration parameter of type "bool", codified as "1"/"0" or "true"/"false" or "yes"/"no" for true/false, repectively.</span>
<a name="l00138"></a>00138 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a>00140 <span class="keywordtype">bool</span> read_bool(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">bool</span> defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** Reads a configuration parameter of type "int"</span>
<a name="l00143"></a>00143 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00144"></a>00144 <span class="comment"> */</span>
<a name="l00145"></a>00145 <span class="keywordtype">int</span> read_int(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keywordtype">int</span> defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00146"></a>00146 <span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /** Reads a configuration parameter of type "uint64_t": As in all other methods, the numeric value can be in decimal or hexadecimal with the prefix "0x"</span>
<a name="l00148"></a>00148 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 uint64_t read_uint64_t(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, uint64_t defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span> ) <span class="keyword">const</span>;
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Reads a configuration parameter of type "string"</span>
<a name="l00153"></a>00153 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> read_string(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** Reads a configuration parameter of type "string", and keeps only the first word (this can be used to eliminate possible comments at the end of the line)</span>
<a name="l00158"></a>00158 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00159"></a>00159 <span class="comment"> */</span>
<a name="l00160"></a>00160 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> read_string_first_word(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** Reads a configuration parameter of type vector, stored in the file as a string: "[v1 v2 v3 ... ]", where spaces could also be commas.</span>
<a name="l00163"></a>00163 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00164"></a>00164 <span class="comment"> */</span>
<a name="l00165"></a>00165 <span class="keyword">template</span> <<span class="keyword">class</span> VECTOR_TYPE>
<a name="l00166"></a><a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html#aa270f645c2c413b40e205f1ac52783bd">00166</a> <span class="keywordtype">void</span> read_vector(
<a name="l00167"></a>00167 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> & section,
<a name="l00168"></a>00168 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> & name,
<a name="l00169"></a>00169 <span class="keyword">const</span> VECTOR_TYPE & defaultValue,
<a name="l00170"></a>00170 VECTOR_TYPE & outValues,
<a name="l00171"></a>00171 <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>)<span class="keyword"> const</span>
<a name="l00172"></a>00172 <span class="keyword"> </span>{
<a name="l00173"></a>00173 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> aux ( readString(section, name, <span class="stringliteral">""</span>,failIfNotFound ) );
<a name="l00174"></a>00174 <span class="comment">// Parse the text into a vector:</span>
<a name="l00175"></a>00175 std<a class="code" href="classstd_1_1vector.html">::vector<std::string></a> tokens;
<a name="l00176"></a>00176 <a class="code" href="group__string__manage.html#gaf5cda8c9ad3e48a986e53151b6043ce6" title="Tokenizes a string according to a set of delimiting characters.">mrpt::system::tokenize</a>( aux,<span class="stringliteral">"[], \t"</span>,tokens);
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="keywordflow">if</span> (tokens.size()==0)
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180 outValues = defaultValue;
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182 <span class="keywordflow">else</span>
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184 <span class="comment">// Parse to numeric type:</span>
<a name="l00185"></a>00185 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = tokens.size();
<a name="l00186"></a>00186 outValues.resize( N );
<a name="l00187"></a>00187 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 std<a class="code" href="classstd_1_1stringstream.html" title="STL class.">::stringstream</a> ss(tokens[i]);
<a name="l00190"></a>00190 ss >> outValues[i];
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** Reads a configuration parameter as a matrix written in a matlab-like format - for example: "[2 3 4 ; 7 8 9]"</span>
<a name="l00197"></a>00197 <span class="comment"> * This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double</span>
<a name="l00198"></a>00198 <span class="comment"> * \exception std::exception If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a>00200 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX_TYPE>
<a name="l00201"></a><a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html#acb74289bf998e2a2b9685832d0fa8123">00201</a> <span class="keywordtype">void</span> read_matrix(
<a name="l00202"></a>00202 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section,
<a name="l00203"></a>00203 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name,
<a name="l00204"></a>00204 MATRIX_TYPE &outMatrix,
<a name="l00205"></a>00205 <span class="keyword">const</span> MATRIX_TYPE &defaultMatrix = MATRIX_TYPE(),
<a name="l00206"></a>00206 <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span> )<span class="keyword"> const</span>
<a name="l00207"></a>00207 <span class="keyword"> </span>{
<a name="l00208"></a>00208 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> aux = readString(section, name, <span class="stringliteral">""</span>,failIfNotFound );
<a name="l00209"></a>00209 <span class="keywordflow">if</span> (aux.empty())
<a name="l00210"></a>00210 outMatrix = defaultMatrix;
<a name="l00211"></a>00211 <span class="keywordflow">else</span>
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213 <span class="comment">// Parse the text into a vector:</span>
<a name="l00214"></a>00214 <span class="keywordflow">if</span> (!outMatrix.fromMatlabStringFormat(aux))
<a name="l00215"></a>00215 <a class="code" href="mrpt__macros_8h.html#a61a8d46146210ee20fa1ff423257a5ec">THROW_EXCEPTION_CUSTOM_MSG1</a>(<span class="stringliteral">"Error parsing matrix: '%s'"</span>,aux.c_str())
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /** Reads an "enum" value, where the value in the config file can be either a numerical value or the symbolic name, for example:</span>
<a name="l00220"></a>00220 <span class="comment"> * In the code:</span>
<a name="l00221"></a>00221 <span class="comment"> * \code</span>
<a name="l00222"></a>00222 <span class="comment"> * enum my_type_t { type_foo=0, type_bar };</span>
<a name="l00223"></a>00223 <span class="comment"> * \endcode</span>
<a name="l00224"></a>00224 <span class="comment"> * In the config file:</span>
<a name="l00225"></a>00225 <span class="comment"> * \code</span>
<a name="l00226"></a>00226 <span class="comment"> * [section]</span>
<a name="l00227"></a>00227 <span class="comment"> * type = type_bar // Use the symbolic name, or</span>
<a name="l00228"></a>00228 <span class="comment"> * type = 1 // use the numerical value (both lines will be equivalent)</span>
<a name="l00229"></a>00229 <span class="comment"> * \endcode</span>
<a name="l00230"></a>00230 <span class="comment"> * Which can be loaded with:</span>
<a name="l00231"></a>00231 <span class="comment"> * \code</span>
<a name="l00232"></a>00232 <span class="comment"> * cfgfile.read_enum<my_type_t>("section","type", type_foo );</span>
<a name="l00233"></a>00233 <span class="comment"> * \endcode</span>
<a name="l00234"></a>00234 <span class="comment"> *</span>
<a name="l00235"></a>00235 <span class="comment"> * \note For an enum type to work with this template it is required that it defines a specialization of mrpt::utils::TEnumType</span>
<a name="l00236"></a>00236 <span class="comment"> */</span>
<a name="l00237"></a>00237 template <typename ENUMTYPE>
<a name="l00238"></a><a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html#ae77c0ebc49d55384ce0258532476eb3d">00238</a> ENUMTYPE read_enum(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &name, <span class="keyword">const</span> ENUMTYPE &defaultValue, <span class="keywordtype">bool</span> failIfNotFound = <span class="keyword">false</span>) <span class="keyword">const</span>
<a name="l00239"></a>00239 {
<a name="l00240"></a>00240 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00241"></a>00241 <span class="keyword">const</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> sVal = read_string_first_word(section,name,<span class="stringliteral">""</span>,failIfNotFound);
<a name="l00242"></a>00242 <span class="keywordflow">if</span> (sVal.empty()) <span class="keywordflow">return</span> defaultValue;
<a name="l00243"></a>00243 <span class="comment">// Text or numeric value?</span>
<a name="l00244"></a>00244 <span class="keywordflow">if</span> (::isdigit(sVal[0]))
<a name="l00245"></a>00245 { <span class="comment">// Seems a number:</span>
<a name="l00246"></a>00246 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>ENUMTYPE<span class="keyword">></span>(::atoi(&sVal[0]));
<a name="l00247"></a>00247 }
<a name="l00248"></a>00248 <span class="keywordflow">else</span>
<a name="l00249"></a>00249 { <span class="comment">// Name look-up:</span>
<a name="l00250"></a>00250 <span class="keywordflow">try</span> {
<a name="l00251"></a>00251 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1utils_1_1_t_enum_type.html" title="A helper class that can convert an enum value into its textual representation, and viceversa...">mrpt::utils::TEnumType<ENUMTYPE>::name2value</a>(sVal);
<a name="l00252"></a>00252 } <span class="keywordflow">catch</span> (<a class="code" href="classstd_1_1exception.html" title="STL class.">std::exception</a> &)
<a name="l00253"></a>00253 {
<a name="l00254"></a>00254 <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"Invalid value '%s' for enum type while reading key='%s'."</span>,sVal.c_str(),name.c_str()))
<a name="l00255"></a>00255 }
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259
<a name="l00260"></a>00260
<a name="l00261"></a>00261 }; <span class="comment">// End of class def.</span>
<a name="l00262"></a>00262 <span class="comment"></span>
<a name="l00263"></a>00263 <span class="comment"> /** An useful macro for loading variables stored in a INI-like file under a key with the same name that the variable, and assigning the variable the current value if not found in the config file.</span>
<a name="l00264"></a>00264 <span class="comment"> * The variableType must be the suffix of "read_XXX" functions, i.e. int, bool,...</span>
<a name="l00265"></a>00265 <span class="comment"> */</span>
<a name="l00266"></a><a class="code" href="_c_config_file_base_8h.html#aaec769c207be6c03605ac7f4beff9262">00266</a> <span class="preprocessor">#define MRPT_LOAD_CONFIG_VAR(variableName,variableType,configFileObject,sectionNameStr) \</span>
<a name="l00267"></a>00267 <span class="preprocessor"> { variableName = configFileObject.read_##variableType(sectionNameStr,#variableName,variableName); }</span>
<a name="l00268"></a>00268 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00269"></a>00269 <span class="comment"> /** Loads a float variable, stored as radians but entered in the INI-file as degrees:</span>
<a name="l00270"></a>00270 <span class="comment"> */</span>
<a name="l00271"></a><a class="code" href="_c_config_file_base_8h.html#aba1d60d70e380805247788d45ea84a92">00271</a> <span class="preprocessor">#define MRPT_LOAD_CONFIG_VAR_DEGREES(variableName,configFileObject,sectionNameStr) \</span>
<a name="l00272"></a>00272 <span class="preprocessor"> { variableName = DEG2RAD( configFileObject.read_float(sectionNameStr,#variableName, RAD2DEG(variableName)) ); }</span>
<a name="l00273"></a>00273 <span class="preprocessor"></span>
<a name="l00274"></a><a class="code" href="_c_config_file_base_8h.html#add47e3b083e18b26d2f6fd1aa515835e">00274</a> <span class="preprocessor">#define MRPT_LOAD_CONFIG_VAR_CAST(variableName,variableType,variableTypeCast,configFileObject,sectionNameStr) \</span>
<a name="l00275"></a>00275 <span class="preprocessor"> { variableName = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,variableName)); }</span>
<a name="l00276"></a>00276 <span class="preprocessor"></span>
<a name="l00277"></a>00277
<a name="l00278"></a><a class="code" href="_c_config_file_base_8h.html#ad1046b55656cdc9b8744e101f9fff328">00278</a> <span class="preprocessor">#define MRPT_LOAD_HERE_CONFIG_VAR(variableName,variableType,targetVariable,configFileObject,sectionNameStr) \</span>
<a name="l00279"></a>00279 <span class="preprocessor"> targetVariable = configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,false);</span>
<a name="l00280"></a>00280 <span class="preprocessor"></span>
<a name="l00281"></a><a class="code" href="_c_config_file_base_8h.html#ade8eb5db25decb10810d54a93e246298">00281</a> <span class="preprocessor">#define MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(variableName,variableType,targetVariable,configFileObject,sectionNameStr) \</span>
<a name="l00282"></a>00282 <span class="preprocessor"> { try { \</span>
<a name="l00283"></a>00283 <span class="preprocessor"> targetVariable = configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,true); \</span>
<a name="l00284"></a>00284 <span class="preprocessor"> } catch (std::exception &) \</span>
<a name="l00285"></a>00285 <span class="preprocessor"> { \</span>
<a name="l00286"></a>00286 <span class="preprocessor"> THROW_EXCEPTION( format( "Value for '%s' not found in config file", static_cast<const char*>(#variableName ) )); \</span>
<a name="l00287"></a>00287 <span class="preprocessor"> } }\</span>
<a name="l00288"></a>00288 <span class="preprocessor"></span>
<a name="l00289"></a>00289 <span class="preprocessor"></span>
<a name="l00290"></a><a class="code" href="_c_config_file_base_8h.html#a82e3b061814a1020f26d27b5143a6b72">00290</a> <span class="preprocessor">#define MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(variableName,variableType,configFileObject,sectionNameStr) \</span>
<a name="l00291"></a>00291 <span class="preprocessor"> { try { \</span>
<a name="l00292"></a>00292 <span class="preprocessor"> variableName = configFileObject.read_##variableType(sectionNameStr,#variableName,variableName,true); \</span>
<a name="l00293"></a>00293 <span class="preprocessor"> } catch (std::exception &) \</span>
<a name="l00294"></a>00294 <span class="preprocessor"> { \</span>
<a name="l00295"></a>00295 <span class="preprocessor"> THROW_EXCEPTION( format( "Value for '%s' not found in config file", static_cast<const char*>(#variableName ) )); \</span>
<a name="l00296"></a>00296 <span class="preprocessor"> } }\</span>
<a name="l00297"></a>00297 <span class="preprocessor"></span>
<a name="l00298"></a><a class="code" href="_c_config_file_base_8h.html#a3d48ab97d78730107bbcf01ceacb7fb4">00298</a> <span class="preprocessor"></span><span class="preprocessor">#define MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT(variableName,variableType,variableTypeCast,configFileObject,sectionNameStr) \</span>
<a name="l00299"></a>00299 <span class="preprocessor"> { try { \</span>
<a name="l00300"></a>00300 <span class="preprocessor"> variableName = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,variableName,true)); \</span>
<a name="l00301"></a>00301 <span class="preprocessor"> } catch (std::exception &) \</span>
<a name="l00302"></a>00302 <span class="preprocessor"> { \</span>
<a name="l00303"></a>00303 <span class="preprocessor"> THROW_EXCEPTION( format( "Value for '%s' not found in config file", static_cast<const char*>(#variableName ) )); \</span>
<a name="l00304"></a>00304 <span class="preprocessor"> } }\</span>
<a name="l00305"></a>00305 <span class="preprocessor"></span>
<a name="l00306"></a>00306 <span class="preprocessor"></span>
<a name="l00307"></a><a class="code" href="_c_config_file_base_8h.html#aa2c94018dfea40f87f2150e6c038412d">00307</a> <span class="preprocessor">#define MRPT_LOAD_HERE_CONFIG_VAR_CAST(variableName,variableType,variableTypeCast,targetVariable,configFileObject,sectionNameStr) \</span>
<a name="l00308"></a>00308 <span class="preprocessor"> targetVariable = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable));</span>
<a name="l00309"></a>00309 <span class="preprocessor"></span>
<a name="l00310"></a><a class="code" href="_c_config_file_base_8h.html#ad98383b1940c81e4dd8ef3ba4c6e4517">00310</a> <span class="preprocessor">#define MRPT_LOAD_HERE_CONFIG_VAR_CAST_NO_DEFAULT(variableName,variableType,variableTypeCast,targetVariable,configFileObject,sectionNameStr) \</span>
<a name="l00311"></a>00311 <span class="preprocessor"> { try { \</span>
<a name="l00312"></a>00312 <span class="preprocessor"> targetVariable = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,true)); \</span>
<a name="l00313"></a>00313 <span class="preprocessor"> } catch (std::exception &) \</span>
<a name="l00314"></a>00314 <span class="preprocessor"> { \</span>
<a name="l00315"></a>00315 <span class="preprocessor"> THROW_EXCEPTION( format( "Value for '%s' not found in config file", static_cast<const char*>(#variableName ) )); \</span>
<a name="l00316"></a>00316 <span class="preprocessor"> } }\</span>
<a name="l00317"></a>00317 <span class="preprocessor"></span>
<a name="l00318"></a>00318 <span class="preprocessor"></span>
<a name="l00319"></a><a class="code" href="_c_config_file_base_8h.html#a00755ff234584f9062e1d6e8ed1fd852">00319</a> <span class="preprocessor">#define MRPT_SAVE_CONFIG_VAR(variableName,configFileObject,sectionNameStr) \</span>
<a name="l00320"></a>00320 <span class="preprocessor"> { configFileObject.write(sectionNameStr,#variableName,variableName); }</span>
<a name="l00321"></a>00321 <span class="preprocessor"></span>
<a name="l00322"></a><a class="code" href="_c_config_file_base_8h.html#a1709453223a994882a5f6ea69da5154b">00322</a> <span class="preprocessor">#define MRPT_SAVE_CONFIG_VAR_DEGREES(variableName,configFileObject,sectionNameStr) \</span>
<a name="l00323"></a>00323 <span class="preprocessor"> { configFileObject.write(sectionNameStr,#variableName, RAD2DEG(variableName)); }</span>
<a name="l00324"></a>00324 <span class="preprocessor"></span>
<a name="l00325"></a>00325
<a name="l00326"></a>00326 } <span class="comment">// End of namespace</span>
<a name="l00327"></a>00327 } <span class="comment">// end of namespace</span>
<a name="l00328"></a>00328 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
