mrpt::config::CConfigFilePrefixer Class Reference

Detailed Description

A wrapper for other CConfigFileBase-based objects that prefixes a given token to every key and/or section.

If, for example, your code expect:

[params1]
foo = 34.0
bar = /dev/ttyUSB0

Using this class with key entries prefix "s1_" will enable the same existing code to transparently parse this file content:

[params1]
s1_foo = 34.0
s1_bar = /dev/ttyUSB0

See: Configuration file format in MRPT

See also

CConfigFileBase

Definition at line 37 of file CConfigFilePrefixer.h.

#include <mrpt/config/CConfigFilePrefixer.h>

Inheritance diagram for mrpt::config::CConfigFilePrefixer:

Public Member Functions
	CConfigFilePrefixer ()
	Unbound constructor: must bind this object to CConfigFileBase before usage with bind() and setPrefixes() More...
	CConfigFilePrefixer (const CConfigFileBase &o, const std::string &prefix_sections, const std::string &prefix_keys)
	Construct and bind to (wrap) a given object with given prefix texts. More...
void	bind (const CConfigFileBase &o)
	Make this object to wrap the given existing CConfigFileBase object. More...
void	setPrefixes (const std::string &prefix_sections, const std::string &prefix_keys)
	Change the prefix for sections and keys. More...
std::string	getSectionPrefix () const
std::string	getKeyPrefix () const
CConfigFileBase *	getBoundConfigFileBase () const
	Returns the currently-bounded config source, or nullptr if none. More...
	~CConfigFilePrefixer () override
void	getAllSections (std::vector< std::string > &sections) const override
	Returns a list with all the section names. More...
void	getAllKeys (const std::string &section, std::vector< std::string > &keys) const override
	Returs a list with all the keys into a section. More...
void	clear () override
	Empties the "config file". More...
bool	sectionExists (const std::string &section_name) const
	Checks if a given section exists (name is case insensitive) More...
bool	keyExists (const std::string &section, const std::string &key) const
	Checks if a given key exists inside a section (case insensitive) More...
void	setContentFromYAML (const std::string &yaml_block)
	Changes the contents of the virtual "config file" from a text block containing a YAML configuration text. More...
std::string	getContentAsYAML () const
	Returns a text block representing the contents of the config file in YAML format. More...
template<typename enum_t , typename = std::enable_if_t<std::is_enum<enum_t>::value>>
void	write (const std::string &section, const std::string &name, enum_t value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
Save a configuration parameter. Optionally pads with spaces up to
the desired width in number of characters (-1: no fill), and add a final comment field at the end of the line (a "// " prefix is automatically inserted).
template<typename data_t , typename = std::enable_if_t<!std::is_enum<data_t>::value>>
void	write (const std::string &section, const std::string &name, const data_t &value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
template<typename data_t >
void	write (const std::string &section, const std::string &name, const std::vector< data_t > &value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
void	write (const std::string &section, const std::string &name, double value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
void	write (const std::string &section, const std::string &name, float value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
Read a configuration parameter, launching exception if key name is
not found and failIfNotFound=true
double	read_double (const std::string &section, const std::string &name, double defaultValue, bool failIfNotFound=false) const
float	read_float (const std::string &section, const std::string &name, float defaultValue, bool failIfNotFound=false) const
bool	read_bool (const std::string &section, const std::string &name, bool defaultValue, bool failIfNotFound=false) const
int	read_int (const std::string &section, const std::string &name, int defaultValue, bool failIfNotFound=false) const
uint64_t	read_uint64_t (const std::string &section, const std::string &name, uint64_t defaultValue, bool failIfNotFound=false) const
std::string	read_string (const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
std::string	read_string_first_word (const std::string &section, const std::string &name, const std::string &defaultValue, bool failIfNotFound=false) const
	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) More...
template<class VECTOR_TYPE >
void	read_vector (const std::string &section, const std::string &name, const VECTOR_TYPE &defaultValue, VECTOR_TYPE &outValues, bool failIfNotFound=false) const
	Reads a configuration parameter of type vector, stored in the file as a string: "[v1 v2 v3 ... ]", where spaces could also be commas. More...
template<class MATRIX_TYPE >
void	read_matrix (const std::string &section, const std::string &name, MATRIX_TYPE &outMatrix, const MATRIX_TYPE &defaultMatrix=MATRIX_TYPE(), bool failIfNotFound=false) const
	Reads a configuration parameter as a matrix written in a matlab-like format - for example: "[2 3 4 ; 7 8 9]". More...
template<typename ENUMTYPE >
ENUMTYPE	read_enum (const std::string &section, const std::string &name, const ENUMTYPE &defaultValue, bool failIfNotFound=false) const
	Reads an "enum" value, where the value in the config file can be either a numerical value or the symbolic name, for example: In the code: More...

Protected Member Functions
void	writeString (const std::string &section, const std::string &name, const std::string &str) override
	A virtual method to write a generic string. More...
std::string	readString (const std::string &section, const std::string &name, const std::string &defaultStr, bool failIfNotFound=false) const override
	A virtual method to read a generic string. More...
void	writeString (const std::string &section, const std::string &name, const std::string &str, const int name_padding_width, const int value_padding_width, const std::string &comment)
	Write a generic string with optional padding and a comment field ("// ...") at the end of the line. More...

Private Member Functions
void	ensureIsBound () const

Private Attributes
CConfigFileBase *	m_bound_object {nullptr}
	The object we are wrapping. More...
std::string	m_prefix_sections
std::string	m_prefix_keys

Constructor & Destructor Documentation

CConfigFilePrefixer() [1/2]

CConfigFilePrefixer::CConfigFilePrefixer ( )

default

Unbound constructor: must bind this object to CConfigFileBase before usage with bind() and setPrefixes()

CConfigFilePrefixer() [2/2]

CConfigFilePrefixer::CConfigFilePrefixer	(	const CConfigFileBase &	o,
		const std::string &	prefix_sections,
		const std::string &	prefix_keys
	)

Construct and bind to (wrap) a given object with given prefix texts.

Definition at line 18 of file CConfigFilePrefixer.cpp.

~CConfigFilePrefixer()

CConfigFilePrefixer::~CConfigFilePrefixer ( )

override

Definition at line 26 of file CConfigFilePrefixer.cpp.

Member Function Documentation

bind()

void CConfigFilePrefixer::bind

(

const CConfigFileBase &

o

)

Make this object to wrap the given existing CConfigFileBase object.

Can be changed at any moment after construction

Definition at line 31 of file CConfigFilePrefixer.cpp.

References m_bound_object.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG().

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clear()

void CConfigFilePrefixer::clear ( )

overridevirtual

Empties the "config file".

Implements mrpt::config::CConfigFileBase.

Definition at line 75 of file CConfigFilePrefixer.cpp.

References mrpt::config::CConfigFileBase::clear(), ensureIsBound(), and m_bound_object.

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ensureIsBound()

void CConfigFilePrefixer::ensureIsBound ( ) const

private

Definition at line 53 of file CConfigFilePrefixer.cpp.

References ASSERTMSG_, and m_bound_object.

Referenced by clear(), getAllKeys(), getAllSections(), readString(), and writeString().

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getAllKeys()

void CConfigFilePrefixer::getAllKeys ( const std::string &  section, std::vector< std::string > &  keys  ) const

overridevirtual

Returs a list with all the keys into a section.

Implements mrpt::config::CConfigFileBase.

Definition at line 68 of file CConfigFilePrefixer.cpp.

References ensureIsBound(), mrpt::config::CConfigFileBase::getAllKeys(), m_bound_object, and m_prefix_keys.

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getAllSections()

void CConfigFilePrefixer::getAllSections ( std::vector< std::string > &  sections ) const

overridevirtual

Returns a list with all the section names.

Implements mrpt::config::CConfigFileBase.

Definition at line 60 of file CConfigFilePrefixer.cpp.

References ensureIsBound(), mrpt::config::CConfigFileBase::getAllSections(), m_bound_object, and m_prefix_sections.

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getBoundConfigFileBase()

CConfigFileBase * CConfigFilePrefixer::getBoundConfigFileBase

(

)

const

Returns the currently-bounded config source, or nullptr if none.

Definition at line 48 of file CConfigFilePrefixer.cpp.

References m_bound_object.

getContentAsYAML()

std::string CConfigFileBase::getContentAsYAML ( ) const

inherited

Returns a text block representing the contents of the config file in YAML format.

See also

setContentFromYAML()

Definition at line 277 of file CConfigFileBase.cpp.

References MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

getKeyPrefix()

std::string CConfigFilePrefixer::getKeyPrefix

(

)

const

Definition at line 47 of file CConfigFilePrefixer.cpp.

References m_prefix_keys.

getSectionPrefix()

std::string CConfigFilePrefixer::getSectionPrefix

(

)

const

Definition at line 43 of file CConfigFilePrefixer.cpp.

References m_prefix_sections.

keyExists()

bool CConfigFileBase::keyExists ( const std::string &  section, const std::string &  key  ) const

inherited

Checks if a given key exists inside a section (case insensitive)

See also

sectionExists()

Definition at line 215 of file CConfigFileBase.cpp.

References mrpt::system::os::_strcmpi().

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and TEST().

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read_bool()

bool CConfigFileBase::read_bool ( const std::string &  section, const std::string &  name, bool  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 155 of file CConfigFileBase.cpp.

References mrpt::system::lowerCase(), and trim().

Referenced by mrpt::detectors::CFaceDetection::init(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::ICP_SLAM_App_Base::run(), and mrpt::apps::RawlogGrabberApp::runImpl().

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read_double()

double CConfigFileBase::read_double ( const std::string &  section, const std::string &  name, double  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 106 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::detectors::CFaceDetection::init(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::img::TCamera::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams(), mrpt::nav::CPTG_RobotShape_Polygonal::loadShapeFromConfigFile(), mrpt::topography::path_from_rtk_gps(), and TEST().

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read_enum()

template<typename ENUMTYPE >

ENUMTYPE mrpt::config::CConfigFileBase::read_enum ( const std::string &  section, const std::string &  name, const ENUMTYPE &  defaultValue, bool  failIfNotFound = false  ) const

inlineinherited

Reads an "enum" value, where the value in the config file can be either a numerical value or the symbolic name, for example: In the code:

enum my_type_t { type_foo=0, type_bar };

In the config file:

   [section]
   type   = type_bar   // Use the symbolic name, or
   type   = 1          // use the numerical value (both lines will be
equivalent)

Which can be loaded with:

cfgfile.read_enum<my_type_t>("section","type", type_foo );

Note

For an enum type to work with this template it is required that it defines a specialization of mrpt::typemeta::TEnumType

Definition at line 269 of file config/CConfigFileBase.h.

References MRPT_END, MRPT_START, mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), mrpt::config::CConfigFileBase::read_string_first_word(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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read_float()

float CConfigFileBase::read_float ( const std::string &  section, const std::string &  name, float  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 118 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::hwdrivers::CWirelessPower::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIbeoLuxETH::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

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read_int()

int CConfigFileBase::read_int ( const std::string &  section, const std::string &  name, int  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 130 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::detectors::CFaceDetection::init(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CImpinjRFID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::graphslam::TSlidingWindow::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::ICP_SLAM_App_Base::run(), and TEST().

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read_matrix()

template<class MATRIX_TYPE >

void mrpt::config::CConfigFileBase::read_matrix ( const std::string &  section, const std::string &  name, MATRIX_TYPE &  outMatrix, const MATRIX_TYPE &  defaultMatrix = MATRIX_TYPE(), bool  failIfNotFound = false  ) const

inlineinherited

Reads a configuration parameter as a matrix written in a matlab-like format - for example: "[2 3 4 ; 7 8 9]".

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

Exceptions

std::exception

If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Definition at line 230 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::readString(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::topography::path_from_rtk_gps().

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read_string()

std::string CConfigFileBase::read_string ( const std::string &  section, const std::string &  name, const std::string &  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 171 of file CConfigFileBase.cpp.

References mrpt::system::trim().

Referenced by mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::apps::KFSLAMApp::initialize(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CWirelessPower::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CImpinjRFID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CEnoseModular::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNationalInstrumentsDAQ::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CNavigatorManualSequence::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::img::TStereoCamera::loadFromConfigFile(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::loadFromConfigFile(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::KFSLAMApp::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::RawlogGrabberApp::SensorThread(), mrpt::apps::ICP_SLAM_App_Live::SensorThread(), TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

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read_string_first_word()

std::string CConfigFileBase::read_string_first_word ( const std::string &  section, const std::string &  name, const std::string &  defaultValue, bool  failIfNotFound = false  ) const

inherited

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)

Definition at line 182 of file CConfigFileBase.cpp.

References mrpt::format(), THROW_EXCEPTION, and mrpt::system::tokenize().

Referenced by mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), and mrpt::config::CConfigFileBase::read_enum().

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read_uint64_t()

uint64_t CConfigFileBase::read_uint64_t ( const std::string &  section, const std::string &  name, uint64_t  defaultValue, bool  failIfNotFound = false  ) const

inherited

Definition at line 142 of file CConfigFileBase.cpp.

References mrpt::system::os::_strtoull(), and mrpt::format().

Referenced by mrpt::hwdrivers::CEnoseModular::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNationalInstrumentsDAQ::loadConfig_sensorSpecific(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

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read_vector()

template<class VECTOR_TYPE >

void mrpt::config::CConfigFileBase::read_vector ( const std::string &  section, const std::string &  name, const VECTOR_TYPE &  defaultValue, VECTOR_TYPE &  outValues, bool  failIfNotFound = false  ) const

inlineinherited

Reads a configuration parameter of type vector, stored in the file as a string: "[v1 v2 v3 ... ]", where spaces could also be commas.

Exceptions

std::exception

If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Definition at line 194 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::readString(), mrpt::system::tokenize(), and val.

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::img::TCamera::loadFromConfigFile(), mrpt::nav::CHolonomicND::TOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), and mrpt::vision::TMultiResDescOptions::loadFromConfigFile().

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readString()

std::string CConfigFilePrefixer::readString ( const std::string &  section, const std::string &  name, const std::string &  defaultStr, bool  failIfNotFound = false  ) const

overrideprotectedvirtual

A virtual method to read a generic string.

Exceptions

std::exception

If the key name is not found and "failIfNotFound" is true. Otherwise the "defaultValue" is returned.

Implements mrpt::config::CConfigFileBase.

Definition at line 89 of file CConfigFilePrefixer.cpp.

References ensureIsBound(), m_bound_object, m_prefix_keys, m_prefix_sections, and mrpt::config::CConfigFileBase::readString().

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sectionExists()

bool CConfigFileBase::sectionExists ( const std::string &  section_name ) const

inherited

Checks if a given section exists (name is case insensitive)

See also

keyExists()

Definition at line 205 of file CConfigFileBase.cpp.

References mrpt::system::os::_strcmpi(), and sect.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::apps::CGridMapAlignerApp::run(), and TEST().

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setContentFromYAML()

void CConfigFileBase::setContentFromYAML ( const std::string &  yaml_block )

inherited

Changes the contents of the virtual "config file" from a text block containing a YAML configuration text.

Refer to unit test yaml2config_unittest.cpp for examples of use.

See also

getContentAsYAML()

Definition at line 225 of file CConfigFileBase.cpp.

References mrpt::containers::clear(), MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

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setPrefixes()

void CConfigFilePrefixer::setPrefixes	(	const std::string &	prefix_sections,
		const std::string &	prefix_keys
	)

Change the prefix for sections and keys.

Can be called at any moment.

Definition at line 36 of file CConfigFilePrefixer.cpp.

References m_prefix_keys, and m_prefix_sections.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG().

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write() [1/5]

template<typename enum_t , typename = std::enable_if_t<std::is_enum<enum_t>::value>>

void mrpt::config::CConfigFileBase::write ( const std::string &  section, const std::string &  name, enum_t  value, const int  name_padding_width = -1, const int  value_padding_width = -1, const std::string &  comment = std::string()  )

inlineinherited

Definition at line 107 of file config/CConfigFileBase.h.

Referenced by generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), run_rnav_test(), mrpt::nav::TWaypointSequence::save(), mrpt::nav::CPTG_DiffDrive_CS::saveToConfigFile(), mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CC::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CCS::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_alpha::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_C::saveToConfigFile(), mrpt::slam::CIncrementalMapPartitioner::TOptions::saveToConfigFile(), mrpt::img::TCamera::saveToConfigFile(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::saveToConfigFile(), mrpt::nav::CHolonomicND::TOptions::saveToConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::nav::CPTG_RobotShape_Polygonal::saveToConfigFile(), mrpt::vision::TMultiResDescMatchOptions::saveToConfigFile(), mrpt::nav::CPTG_RobotShape_Circular::saveToConfigFile(), mrpt::vision::TMultiResDescOptions::saveToConfigFile(), TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

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write() [2/5]

template<typename data_t , typename = std::enable_if_t<!std::is_enum<data_t>::value>>

void mrpt::config::CConfigFileBase::write ( const std::string &  section, const std::string &  name, const data_t &  value, const int  name_padding_width = -1, const int  value_padding_width = -1, const std::string &  comment = std::string()  )

inlineinherited

Definition at line 124 of file config/CConfigFileBase.h.

References mrpt::to_string(), and mrpt::config::CConfigFileBase::writeString().

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write() [3/5]

template<typename data_t >

void mrpt::config::CConfigFileBase::write ( const std::string &  section, const std::string &  name, const std::vector< data_t > &  value, const int  name_padding_width = -1, const int  value_padding_width = -1, const std::string &  comment = std::string()  )

inlineinherited

Definition at line 135 of file config/CConfigFileBase.h.

References mrpt::to_string(), and mrpt::config::CConfigFileBase::writeString().

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write() [4/5]

void CConfigFileBase::write ( const std::string &  section, const std::string &  name, double  value, const int  name_padding_width = -1, const int  value_padding_width = -1, const std::string &  comment = std::string()  )

inherited

Definition at line 38 of file CConfigFileBase.cpp.

References mrpt::format().

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write() [5/5]

void CConfigFileBase::write ( const std::string &  section, const std::string &  name, float  value, const int  name_padding_width = -1, const int  value_padding_width = -1, const std::string &  comment = std::string()  )

inherited

Definition at line 52 of file CConfigFileBase.cpp.

References mrpt::format().

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writeString() [1/2]

void CConfigFilePrefixer::writeString ( const std::string &  section, const std::string &  name, const std::string &  str  )

overrideprotectedvirtual

A virtual method to write a generic string.

Implements mrpt::config::CConfigFileBase.

Definition at line 81 of file CConfigFilePrefixer.cpp.

References ensureIsBound(), m_bound_object, m_prefix_keys, m_prefix_sections, and mrpt::config::CConfigFileBase::writeString().

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writeString() [2/2]

void CConfigFileBase::writeString ( const std::string &  section, const std::string &  name, const std::string &  str, const int  name_padding_width, const int  value_padding_width, const std::string &  comment  )

protectedinherited

Write a generic string with optional padding and a comment field ("// ...") at the end of the line.

Definition at line 70 of file CConfigFileBase.cpp.

References mrpt::format().

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Member Data Documentation

m_bound_object

CConfigFileBase* mrpt::config::CConfigFilePrefixer::m_bound_object {nullptr}

private

The object we are wrapping.

Definition at line 41 of file CConfigFilePrefixer.h.

Referenced by bind(), clear(), ensureIsBound(), getAllKeys(), getAllSections(), getBoundConfigFileBase(), readString(), and writeString().

m_prefix_keys

std::string mrpt::config::CConfigFilePrefixer::m_prefix_keys

private

Definition at line 42 of file CConfigFilePrefixer.h.

Referenced by getAllKeys(), getKeyPrefix(), readString(), setPrefixes(), and writeString().

m_prefix_sections

std::string mrpt::config::CConfigFilePrefixer::m_prefix_sections

private

Definition at line 42 of file CConfigFilePrefixer.h.

Referenced by getAllSections(), getSectionPrefix(), readString(), setPrefixes(), and writeString().