51 lines
1.2 KiB
C++
Executable File
51 lines
1.2 KiB
C++
Executable File
#ifndef TANGENT_PLANNER_PARAMETERS_HELPER_H
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#define TANGENT_PLANNER_PARAMETERS_HELPER_H
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#include <string>
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#include <ros/ros.h>
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#include <chrono>
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#include <ctime>
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#include <iomanip>
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#include <sstream>
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#include <string>
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namespace Planner {
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inline
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bool hasParam(const std::string& name)
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{
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return ros::param::has(name);
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}
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template<typename T>
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T getParam(const std::string& name, const T& defaultValue)
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{
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T v;
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if(ros::param::get(name, v))
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{
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ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
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return v;
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}
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else
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ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue);
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return defaultValue;
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}
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template<typename T>
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T getParam(const std::string& name)
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{
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T v;
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if(ros::param::get(name, v))
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{
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ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
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return v;
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}
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else
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ROS_ERROR_STREAM("Cannot find value for parameter: " << name);
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return T();
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}
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} // namespace planner
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#endif //TANGENT_PLANNER_PARAMETERS_HELPER_H
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