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 39 of file CConfigFilePrefixer.h.

#include <mrpt/utils/CConfigFilePrefixer.h>

Inheritance diagram for mrpt::utils::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...

virtual	~CConfigFilePrefixer ()

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

void	getAllKeys (const std::string &section, vector_string &keys) const override
	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
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 Attributes
CConfigFileBase *	m_bound_object
	The object we are wrapping. More...

std::string	m_prefix_sections

std::string	m_prefix_keys

Constructor & Destructor Documentation

◆ CConfigFilePrefixer() [1/2]

CConfigFilePrefixer::CConfigFilePrefixer ( )

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

Definition at line 18 of file CConfigFilePrefixer.cpp.

◆ 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 19 of file CConfigFilePrefixer.cpp.

◆ ~CConfigFilePrefixer()

CConfigFilePrefixer::~CConfigFilePrefixer ( )

virtual

Definition at line 27 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 32 of file CConfigFilePrefixer.cpp.

References m_bound_object.

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

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◆ getAllKeys()

void CConfigFilePrefixer::getAllKeys	(	const std::string &	section,
		vector_string &	keys
	)		const

overridevirtual

Returs a list with all the keys into a section.

Implements mrpt::utils::CConfigFileBase.

Definition at line 64 of file CConfigFilePrefixer.cpp.

References ASSERTMSG_, mrpt::utils::CConfigFileBase::getAllKeys(), m_bound_object, and m_prefix_keys.

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◆ getAllSections()

void CConfigFilePrefixer::getAllSections ( vector_string & sections ) const

overridevirtual

Returns a list with all the section names.

Implements mrpt::utils::CConfigFileBase.

Definition at line 54 of file CConfigFilePrefixer.cpp.

References ASSERTMSG_, mrpt::utils::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 49 of file CConfigFilePrefixer.cpp.

References m_bound_object.

◆ getKeyPrefix()

std::string CConfigFilePrefixer::getKeyPrefix ( ) const

Definition at line 48 of file CConfigFilePrefixer.cpp.

References m_prefix_keys.

◆ getSectionPrefix()

std::string CConfigFilePrefixer::getSectionPrefix ( ) const

Definition at line 44 of file CConfigFilePrefixer.cpp.

References m_prefix_sections.

◆ read_bool()

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

inherited

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

inherited

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

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::utils::TEnumType

Definition at line 242 of file CConfigFileBase.h.

References MRPT_END, MRPT_START, mrpt::utils::TEnumType< ENUMTYPE >::name2value(), mrpt::utils::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::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

inherited

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

inherited

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

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 203 of file CConfigFileBase.h.

References mrpt::utils::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 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

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 173 of file CConfigFileBase.cpp.

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

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

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 168 of file CConfigFileBase.h.

References mrpt::utils::CConfigFileBase::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()

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::utils::CConfigFileBase.

Definition at line 84 of file CConfigFilePrefixer.cpp.

References ASSERTMSG_, m_bound_object, m_prefix_keys, m_prefix_sections, and mrpt::utils::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)

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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◆ 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 37 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::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()`
	)

inlineinherited

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()`
	)

inlineinherited

Definition at line 96 of file CConfigFileBase.h.

References mrpt::utils::CConfigFileBase::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()`
	)

inlineinherited

Definition at line 110 of file CConfigFileBase.h.

References mrpt::utils::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 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()`
	)

inherited

Definition at line 40 of file CConfigFileBase.cpp.

◆ 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::utils::CConfigFileBase.

Definition at line 74 of file CConfigFilePrefixer.cpp.

References ASSERTMSG_, m_bound_object, m_prefix_keys, m_prefix_sections, and mrpt::utils::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 58 of file CConfigFileBase.cpp.

References mrpt::format().

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Member Data Documentation

◆ m_bound_object

CConfigFileBase* mrpt::utils::CConfigFilePrefixer::m_bound_object

private

The object we are wrapping.

Definition at line 43 of file CConfigFilePrefixer.h.

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

◆ m_prefix_keys

std::string mrpt::utils::CConfigFilePrefixer::m_prefix_keys

private

Definition at line 44 of file CConfigFilePrefixer.h.

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

◆ m_prefix_sections

std::string mrpt::utils::CConfigFilePrefixer::m_prefix_sections

private

Definition at line 44 of file CConfigFilePrefixer.h.

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

Detailed Description

Public Member Functions

Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CConfigFilePrefixer() [1/2]

◆ CConfigFilePrefixer() [2/2]

◆ ~CConfigFilePrefixer()

Member Function Documentation

◆ bind()

◆ getAllKeys()

◆ getAllSections()

◆ getBoundConfigFileBase()

◆ getKeyPrefix()

◆ getSectionPrefix()

◆ 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()

◆ setPrefixes()

◆ write() [1/5]

◆ write() [2/5]

◆ write() [3/5]

◆ write() [4/5]

◆ write() [5/5]

◆ writeString() [1/2]

◆ writeString() [2/2]

Member Data Documentation

◆ m_bound_object

◆ m_prefix_keys

◆ m_prefix_sections