Detailed Description

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...

This is a virtual class, use only as a pointer to an implementation of one of the derived classes.

See: Configuration file format in MRPT

Definition at line 39 of file CConfigFileBase.h.

#include <mrpt/utils/CConfigFileBase.h>

Inheritance diagram for mrpt::utils::CConfigFileBase:

Public Member Functions
virtual	~CConfigFileBase ()
	dtor More...

virtual void	getAllSections (vector_string &sections) const =0
	Returns a list with all the section names. More...

virtual void	getAllKeys (const std::string &section, vector_string &keys) const =0
	Returs a list with all the keys into a section. More...

bool	sectionExists (const std::string &section_name) const
	Checks if a given section exists (name is case insensitive) 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
virtual void	writeString (const std::string &section, const std::string &name, const std::string &str)=0
	A virtual method to write 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...

virtual std::string	readString (const std::string &section, const std::string &name, const std::string &defaultStr, bool failIfNotFound=false) const =0
	A virtual method to read a generic string. More...

Friends
class	CConfigFilePrefixer

Constructor & Destructor Documentation

◆ ~CConfigFileBase()

CConfigFileBase::~CConfigFileBase ( )

virtual

dtor

Definition at line 25 of file CConfigFileBase.cpp.

Member Function Documentation

◆ getAllKeys()

virtual void mrpt::utils::CConfigFileBase::getAllKeys	(	const std::string &	section,
		vector_string &	keys
	)		const

pure virtual

Returs a list with all the keys into a section.

Implemented in mrpt::utils::CConfigFile, mrpt::utils::CConfigFilePrefixer, and mrpt::utils::CConfigFileMemory.

Referenced by mrpt::utils::CConfigFilePrefixer::getAllKeys().

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◆ getAllSections()

virtual void mrpt::utils::CConfigFileBase::getAllSections ( vector_string & sections ) const

pure virtual

Returns a list with all the section names.

Implemented in mrpt::utils::CConfigFile, mrpt::utils::CConfigFilePrefixer, and mrpt::utils::CConfigFileMemory.

Referenced by mrpt::utils::CConfigFilePrefixer::getAllSections().

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◆ read_bool()

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

Definition at line 143 of file CConfigFileBase.cpp.

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

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◆ read_double()

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

Definition at line 94 of file CConfigFileBase.cpp.

Referenced by mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::detectors::CFaceDetection::init(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::utils::TCamera::loadFromConfigFile(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), 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::utils::CConfigFileBase::read_enum	(	const std::string &	section,
		const std::string &	name,
		const ENUMTYPE &	defaultValue,
		bool	failIfNotFound = `false`
	)		const

inline

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::utils::TEnumType

Definition at line 242 of file CConfigFileBase.h.

References MRPT_END, MRPT_START, mrpt::utils::TEnumType< ENUMTYPE >::name2value(), 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::bayes::TKF_options::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), and mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile().

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◆ read_float()

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

Definition at line 106 of file CConfigFileBase.cpp.

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◆ read_int()

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

Definition at line 118 of file CConfigFileBase.cpp.

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◆ read_matrix()

template<class MATRIX_TYPE >

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

inline

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 203 of file CConfigFileBase.h.

References 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

Definition at line 162 of file CConfigFileBase.cpp.

References mrpt::system::trim().

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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

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 173 of file CConfigFileBase.cpp.

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

Referenced by mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), and 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

Definition at line 130 of file CConfigFileBase.cpp.

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

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(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

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◆ read_vector()

template<class VECTOR_TYPE >

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

inline

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 168 of file CConfigFileBase.h.

References readString(), and mrpt::system::tokenize().

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::utils::TCamera::loadFromConfigFile(), mrpt::vision::TStereoSystemParams::loadFromConfigFile(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), and run_test_pf_localization().

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◆ readString()

virtual std::string mrpt::utils::CConfigFileBase::readString	(	const std::string &	section,
		const std::string &	name,
		const std::string &	defaultStr,
		bool	failIfNotFound = `false`
	)		const

protectedpure virtual

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.

Implemented in mrpt::utils::CConfigFileMemory, mrpt::utils::CConfigFile, and mrpt::utils::CConfigFilePrefixer.

Referenced by read_matrix(), read_vector(), and mrpt::utils::CConfigFilePrefixer::readString().

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◆ sectionExists()

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

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

Definition at line 198 of file CConfigFileBase.cpp.

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

Referenced by mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(), and mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific().

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◆ write() [1/5]

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

void mrpt::utils::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()`
	)

inline

Definition at line 80 of file CConfigFileBase.h.

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◆ write() [2/5]

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

void mrpt::utils::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()`
	)

inline

Definition at line 96 of file CConfigFileBase.h.

References writeString().

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◆ write() [3/5]

template<typename data_t >

void mrpt::utils::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()`
	)

inline

Definition at line 110 of file CConfigFileBase.h.

References 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()`
	)

Definition at line 26 of file CConfigFileBase.cpp.

◆ 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()`
	)

Definition at line 40 of file CConfigFileBase.cpp.

◆ writeString() [1/2]

virtual void mrpt::utils::CConfigFileBase::writeString	(	const std::string &	section,
		const std::string &	name,
		const std::string &	str
	)

protectedpure virtual

A virtual method to write a generic string.

Implemented in mrpt::utils::CConfigFileMemory, mrpt::utils::CConfigFile, and mrpt::utils::CConfigFilePrefixer.

Referenced by write(), and mrpt::utils::CConfigFilePrefixer::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
	)

protected

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

Definition at line 58 of file CConfigFileBase.cpp.

References mrpt::format().

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Friends And Related Function Documentation

◆ CConfigFilePrefixer

friend class CConfigFilePrefixer

friend

Definition at line 41 of file CConfigFileBase.h.

Detailed Description

Public Member Functions

Protected Member Functions

Friends

Constructor & Destructor Documentation

◆ ~CConfigFileBase()

Member Function Documentation

◆ getAllKeys()

◆ getAllSections()

◆ read_bool()

◆ read_double()

◆ read_enum()

◆ read_float()

◆ read_int()

◆ read_matrix()

◆ read_string()

◆ read_string_first_word()

◆ read_uint64_t()

◆ read_vector()

◆ readString()

◆ sectionExists()

◆ write() [1/5]

◆ write() [2/5]

◆ write() [3/5]

◆ write() [4/5]

◆ write() [5/5]

◆ writeString() [1/2]

◆ writeString() [2/2]

Friends And Related Function Documentation

◆ CConfigFilePrefixer