init

2023-01-21 11:33:15 +01:00
parent 924825aa57
commit e9f436ddd7
37 changed files with 3748 additions and 92 deletions
@@ -0,0 +1,50 @@
+#ifndef TANGENT_PLANNER_PARAMETERS_HELPER_H
+#define TANGENT_PLANNER_PARAMETERS_HELPER_H
+
+#include <string>
+#include <ros/ros.h>
+#include <chrono>
+#include <ctime>
+#include <iomanip>
+#include <sstream>
+#include <string>
+
+namespace Planner {
+
+    inline
+    bool hasParam(const std::string& name)
+    {
+        return ros::param::has(name);
+    }
+
+    template<typename T>
+    T getParam(const std::string& name, const T& defaultValue)
+    {
+        T v;
+        if(ros::param::get(name, v))
+        {
+            ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
+            return v;
+        }
+        else
+            ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue);
+        return defaultValue;
+    }
+
+    template<typename T>
+    T getParam(const std::string& name)
+    {
+        T v;
+        if(ros::param::get(name, v))
+        {
+            ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
+            return v;
+        }
+        else
+            ROS_ERROR_STREAM("Cannot find value for parameter: " << name);
+        return T();
+    }
+
+} // namespace planner
+
+#endif //TANGENT_PLANNER_PARAMETERS_HELPER_H