CConfigFileBase.h File Reference

#include <mrpt/utils/utils_defs.h>
#include <mrpt/system/string_utils.h>
#include <sstream>
#include <iomanip>

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Classes
struct	mrpt::utils::TEnumType< ENUMTYPE >
	A helper class that can convert an enum value into its textual representation, and viceversa. More...
class	mrpt::utils::CConfigFileBase
	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... More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Macros
#define	MRPT_LOAD_CONFIG_VAR(variableName, variableType, configFileObject, sectionNameStr)   { variableName = configFileObject.read_##variableType(sectionNameStr,#variableName,variableName); }
	An useful macro for loading variables stored in a INI-like file under a key with the same name that the variable, and assigning the variable the current value if not found in the config file. More...
#define	MRPT_LOAD_CONFIG_VAR_CS(variableName, variableType)   MRPT_LOAD_CONFIG_VAR(variableName,variableType,c,s)
	Shortcut for MRPT_LOAD_CONFIG_VAR() for config file object named c and section string named s More...
#define	MRPT_LOAD_CONFIG_VAR_DEGREES(variableName, configFileObject, sectionNameStr)   { variableName = mrpt::utils::DEG2RAD( configFileObject.read_double(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName)) ); }
	Loads a double variable, stored as radians but entered in the INI-file as degrees. More...
#define	MRPT_LOAD_CONFIG_VAR_DEGREES_NO_DEFAULT(variableName, configFileObject, sectionNameStr)   { variableName = mrpt::utils::DEG2RAD( configFileObject.read_double(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName),true) ); }
	Loads a double, required, variable, stored as radians but entered in the INI-file as degrees. More...
#define	MRPT_LOAD_CONFIG_VAR_CAST(variableName, variableType, variableTypeCast, configFileObject, sectionNameStr)   { variableName = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,variableName)); }
#define	MRPT_LOAD_HERE_CONFIG_VAR(variableName, variableType, targetVariable, configFileObject, sectionNameStr)   targetVariable = configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,false);
#define	MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT(variableName, variableType, targetVariable, configFileObject, sectionNameStr)
#define	MRPT_LOAD_HERE_CONFIG_VAR_DEGREES(variableName, variableType, targetVariable, configFileObject, sectionNameStr)   targetVariable = mrpt::utils::DEG2RAD( configFileObject.read_##variableType(sectionNameStr,#variableName,mrpt::utils::RAD2DEG(targetVariable),false));
#define	MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(variableName, variableType, targetVariable, configFileObject, sectionNameStr)
#define	MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(variableName, variableType, configFileObject, sectionNameStr)
#define	MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(variableName, variableType)   MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(variableName,variableType,c,s)
	Shortcut for MRPT_LOAD_CONFIG_VAR_NO_DEFAULT() for REQUIRED variables config file object named c and section string named s More...
#define	MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT(variableName, variableType, variableTypeCast, configFileObject, sectionNameStr)
#define	MRPT_LOAD_HERE_CONFIG_VAR_CAST(variableName, variableType, variableTypeCast, targetVariable, configFileObject, sectionNameStr)   targetVariable = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable));
#define	MRPT_LOAD_HERE_CONFIG_VAR_CAST_NO_DEFAULT(variableName, variableType, variableTypeCast, targetVariable, configFileObject, sectionNameStr)
#define	MRPT_SAVE_CONFIG_VAR(variableName, configFileObject, sectionNameStr)   { configFileObject.write(sectionNameStr,#variableName,variableName); }
#define	MRPT_SAVE_CONFIG_VAR_DEGREES(variableName, configFileObject, sectionNameStr)   { configFileObject.write(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName)); }
#define	MRPT_SAVE_CONFIG_VAR_COMMENT(variableName, __comment)   { c.write(s,#variableName,variableName,mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING,__comment); }
#define	MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT(__entryName, __variable, __comment)   { c.write(s,__entryName,mrpt::utils::RAD2DEG(__variable),mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING,__comment); }

Variables
int BASE_IMPEXP	mrpt::utils::MRPT_SAVE_NAME_PADDING = 50
int BASE_IMPEXP	mrpt::utils::MRPT_SAVE_VALUE_PADDING = 20
	Default padding sizes for macros MRPT_SAVE_CONFIG_VAR_COMMENT(), etc. More...

Macro Definition Documentation

MRPT_LOAD_CONFIG_VAR

#define MRPT_LOAD_CONFIG_VAR	(		variableName,
			variableType,
			configFileObject,
			sectionNameStr
	)		{ variableName = configFileObject.read_##variableType(sectionNameStr,#variableName,variableName); }

An useful macro for loading variables stored in a INI-like file under a key with the same name that the variable, and assigning the variable the current value if not found in the config file.

The variableType must be the suffix of "read_XXX" functions, i.e. int, bool,...

Definition at line 190 of file CConfigFileBase.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common(), mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::loadConfigFile(), mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::maps::CPointCloudFilterByDistance::TOptions::loadFromConfigFile(), mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::loadFromConfigFile(), mrpt::bayes::TKF_options::loadFromConfigFile(), mrpt::nav::CHolonomicVFF::TOptions::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), mrpt::maps::TMapGenericParams::loadFromConfigFile(), mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::loadFromConfigFile(), mrpt::nav::CHolonomicND::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile(), mrpt::maps::CBeaconMap::TInsertionOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::loadFromConfigFile(), mrpt::maps::CPointsMap::TInsertionOptions::loadFromConfigFile(), mrpt::maps::CPointsMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::maps::COctoMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CColouredOctoMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CReflectivityGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), and mrpt::maps::COccupancyGridMap2D::TMapDefinition::loadFromConfigFile_map_specific().

MRPT_LOAD_CONFIG_VAR_CAST

#define MRPT_LOAD_CONFIG_VAR_CAST	(		variableName,
			variableType,
			variableTypeCast,
			configFileObject,
			sectionNameStr
	)		{ variableName = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,variableName)); }

Definition at line 204 of file CConfigFileBase.h.

Referenced by mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), and mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT

#define MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT	(		variableName,
			variableType,
			variableTypeCast,
			configFileObject,
			sectionNameStr
	)

Value:

{ try { \
                variableName = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,variableName,true)); \
    } catch (std::exception &) \
    { \
                THROW_EXCEPTION( mrpt::format( "Value for '%s' not found in config file in section '%s'", static_cast<const char*>(#variableName ), std::string(sectionNameStr).c_str() )); \
        } }\

Definition at line 240 of file CConfigFileBase.h.

Referenced by mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), and mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_CS

#define MRPT_LOAD_CONFIG_VAR_CS	(		variableName,
			variableType
	)		MRPT_LOAD_CONFIG_VAR(variableName,variableType,c,s)

Shortcut for MRPT_LOAD_CONFIG_VAR() for config file object named c and section string named s

Definition at line 194 of file CConfigFileBase.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile(), and mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_DEGREES

#define MRPT_LOAD_CONFIG_VAR_DEGREES	(		variableName,
			configFileObject,
			sectionNameStr
	)		{ variableName = mrpt::utils::DEG2RAD( configFileObject.read_double(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName)) ); }

Loads a double variable, stored as radians but entered in the INI-file as degrees.

Definition at line 197 of file CConfigFileBase.h.

Referenced by mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::maps::CPointCloudFilterByDistance::TOptions::loadFromConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile(), mrpt::maps::CPointsMap::TInsertionOptions::loadFromConfigFile(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile(), and mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_DEGREES_NO_DEFAULT

#define MRPT_LOAD_CONFIG_VAR_DEGREES_NO_DEFAULT	(		variableName,
			configFileObject,
			sectionNameStr
	)		{ variableName = mrpt::utils::DEG2RAD( configFileObject.read_double(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName),true) ); }

Loads a double, required, variable, stored as radians but entered in the INI-file as degrees.

Definition at line 201 of file CConfigFileBase.h.

MRPT_LOAD_CONFIG_VAR_NO_DEFAULT

#define MRPT_LOAD_CONFIG_VAR_NO_DEFAULT	(		variableName,
			variableType,
			configFileObject,
			sectionNameStr
	)

Value:

{ try { \
                variableName = configFileObject.read_##variableType(sectionNameStr,#variableName,variableName,true); \
    } catch (std::exception &) \
    { \
                THROW_EXCEPTION( mrpt::format( "Value for '%s' not found in config file in section '%s'", static_cast<const char*>(#variableName ), std::string(sectionNameStr).c_str() )); \
        } }\

Definition at line 229 of file CConfigFileBase.h.

Referenced by mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::loadConfigFile(), mrpt::nav::CPTG_DiffDrive_CC::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_CS::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_CCS::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_C::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_REQUIRED_CS

#define MRPT_LOAD_CONFIG_VAR_REQUIRED_CS	(		variableName,
			variableType
	)		MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(variableName,variableType,c,s)

Shortcut for MRPT_LOAD_CONFIG_VAR_NO_DEFAULT() for REQUIRED variables config file object named c and section string named s

Definition at line 238 of file CConfigFileBase.h.

Referenced by mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::loadFromConfigFile(), mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::loadFromConfigFile(), and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile().

MRPT_LOAD_HERE_CONFIG_VAR

#define MRPT_LOAD_HERE_CONFIG_VAR	(		variableName,
			variableType,
			targetVariable,
			configFileObject,
			sectionNameStr
	)		targetVariable = configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,false);

Definition at line 208 of file CConfigFileBase.h.

Referenced by mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), and mrpt::nav::CPTG_RobotShape_Circular::loadShapeFromConfigFile().

MRPT_LOAD_HERE_CONFIG_VAR_CAST

#define MRPT_LOAD_HERE_CONFIG_VAR_CAST	(		variableName,
			variableType,
			variableTypeCast,
			targetVariable,
			configFileObject,
			sectionNameStr
	)		targetVariable = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable));

Definition at line 249 of file CConfigFileBase.h.

MRPT_LOAD_HERE_CONFIG_VAR_CAST_NO_DEFAULT

#define MRPT_LOAD_HERE_CONFIG_VAR_CAST_NO_DEFAULT	(		variableName,
			variableType,
			variableTypeCast,
			targetVariable,
			configFileObject,
			sectionNameStr
	)

Value:

{ try { \
                targetVariable = static_cast<variableTypeCast>(configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,true)); \
    } catch (std::exception &) \
    { \
                THROW_EXCEPTION( mrpt::format( "Value for '%s' not found in config file in section '%s'", static_cast<const char*>(#variableName ), std::string(sectionNameStr).c_str() )); \
        } }\

Definition at line 252 of file CConfigFileBase.h.

MRPT_LOAD_HERE_CONFIG_VAR_DEGREES

#define MRPT_LOAD_HERE_CONFIG_VAR_DEGREES	(		variableName,
			variableType,
			targetVariable,
			configFileObject,
			sectionNameStr
	)		targetVariable = mrpt::utils::DEG2RAD( configFileObject.read_##variableType(sectionNameStr,#variableName,mrpt::utils::RAD2DEG(targetVariable),false));

Definition at line 218 of file CConfigFileBase.h.

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

MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT

#define MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT	(		variableName,
			variableType,
			targetVariable,
			configFileObject,
			sectionNameStr
	)

Value:

{ try { \
                targetVariable = mrpt::utils::DEG2RAD( configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,true)); \
        } catch (std::exception &) { \
                THROW_EXCEPTION( mrpt::format( "Value for '%s' not found in config file in section '%s'", static_cast<const char*>(#variableName ), std::string(sectionNameStr).c_str() )); \
        } }

Definition at line 221 of file CConfigFileBase.h.

Referenced by mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::loadConfigFile(), mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_alpha::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile().

MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT

#define MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT	(		variableName,
			variableType,
			targetVariable,
			configFileObject,
			sectionNameStr
	)

Value:

{ try { \
                targetVariable = configFileObject.read_##variableType(sectionNameStr,#variableName,targetVariable,true); \
        } catch (std::exception &) { \
                THROW_EXCEPTION( mrpt::format( "Value for '%s' not found in config file in section '%s'", static_cast<const char*>(#variableName ), std::string(sectionNameStr).c_str() )); \
        } }

Definition at line 211 of file CConfigFileBase.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(), mrpt::vision::CCamModel::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile().

MRPT_SAVE_CONFIG_VAR

#define MRPT_SAVE_CONFIG_VAR	(		variableName,
			configFileObject,
			sectionNameStr
	)		{ configFileObject.write(sectionNameStr,#variableName,variableName); }

Definition at line 261 of file CConfigFileBase.h.

MRPT_SAVE_CONFIG_VAR_COMMENT

#define MRPT_SAVE_CONFIG_VAR_COMMENT	(		variableName,
			__comment
	)		{ c.write(s,#variableName,variableName,mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING,__comment); }

Definition at line 267 of file CConfigFileBase.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::saveConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::saveConfigFile(), mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams::saveToConfigFile(), mrpt::maps::CPointCloudFilterByDistance::TOptions::saveToConfigFile(), mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::saveToConfigFile(), mrpt::nav::CHolonomicVFF::TOptions::saveToConfigFile(), mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::saveToConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile(), mrpt::nav::CHolonomicND::TOptions::saveToConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile(), and mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::saveToConfigFile().

MRPT_SAVE_CONFIG_VAR_DEGREES

#define MRPT_SAVE_CONFIG_VAR_DEGREES	(		variableName,
			configFileObject,
			sectionNameStr
	)		{ configFileObject.write(sectionNameStr,#variableName, mrpt::utils::RAD2DEG(variableName)); }

Definition at line 264 of file CConfigFileBase.h.

MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT

#define MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT	(		__entryName,
			__variable,
			__comment
	)		{ c.write(s,__entryName,mrpt::utils::RAD2DEG(__variable),mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING,__comment); }

Definition at line 269 of file CConfigFileBase.h.

Referenced by mrpt::maps::CPointCloudFilterByDistance::TOptions::saveToConfigFile(), mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::saveToConfigFile(), and mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile().