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 44 of file config/CConfigFileBase.h.

#include <mrpt/config/CConfigFileBase.h>

Inheritance diagram for mrpt::config::CConfigFileBase:

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

virtual void	getAllSections (std::vector< std::string > &sections) const =0
	Returns a list with all the section names. More...

virtual void	getAllKeys (const std::string &section, std::vector< std::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())

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 32 of file CConfigFileBase.cpp.

Member Function Documentation

◆ getAllKeys()

virtual void mrpt::config::CConfigFileBase::getAllKeys	(	const std::string &	section,
		std::vector< std::string > &	keys
	)		const

pure virtual

Returs a list with all the keys into a section.

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

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

◆ getAllSections()

virtual void mrpt::config::CConfigFileBase::getAllSections ( std::vector< std::string > & sections ) const

pure virtual

Returns a list with all the section names.

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

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

◆ read_bool()

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

Definition at line 150 of file CConfigFileBase.cpp.

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

◆ read_double()

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

Definition at line 101 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::img::TCamera::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::nav::CPTG_RobotShape_Polygonal::loadShapeFromConfigFile(), mrpt::topography::path_from_rtk_gps(), and TEST().

◆ 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

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::typemeta::TEnumType

Definition at line 245 of file config/CConfigFileBase.h.

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

Referenced by mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific().

◆ read_float()

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

Definition at line 113 of file CConfigFileBase.cpp.

◆ read_int()

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

Definition at line 125 of file CConfigFileBase.cpp.

◆ 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

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 206 of file config/CConfigFileBase.h.

References readString(), and THROW_EXCEPTION_FMT.

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

◆ 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 169 of file CConfigFileBase.cpp.

References mrpt::system::trim().

◆ 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 180 of file CConfigFileBase.cpp.

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

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

◆ 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 137 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().

◆ 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

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 171 of file config/CConfigFileBase.h.

References 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::img::TCamera::loadFromConfigFile(), and mrpt::vision::TMultiResDescOptions::loadFromConfigFile().

◆ readString()

virtual std::string mrpt::config::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::config::CConfigFileMemory, mrpt::config::CConfigFile, and mrpt::config::CConfigFilePrefixer.

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

◆ sectionExists()

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

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

Definition at line 205 of file CConfigFileBase.cpp.

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

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

◆ write() [1/5]

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()`
	)

inline

Definition at line 101 of file config/CConfigFileBase.h.

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

◆ write() [2/5]

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()`
	)

inline

Definition at line 112 of file config/CConfigFileBase.h.

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

◆ write() [3/5]

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 33 of file CConfigFileBase.cpp.

◆ write() [4/5]

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()`
	)

inline

Definition at line 85 of file config/CConfigFileBase.h.

◆ 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 47 of file CConfigFileBase.cpp.

◆ writeString() [1/2]

virtual void mrpt::config::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::config::CConfigFileMemory, mrpt::config::CConfigFilePrefixer, and mrpt::config::CConfigFile.

Referenced by write(), and mrpt::config::CConfigFilePrefixer::writeString().

◆ 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 65 of file CConfigFileBase.cpp.

References mrpt::format().

Friends And Related Function Documentation

◆ CConfigFilePrefixer

friend class CConfigFilePrefixer

friend

Definition at line 46 of file config/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