mrpt::config::CConfigFileMemory Class Reference

Detailed Description

This class implements a config file-like interface over a memory-stored string list.

Use base class CConfigFileBase's methods read_{int,float,double,string,...}() and write() to actually read and write values.

It can also parse a YAML text block and expose its fields (up to the first level of hierarchy, as allowed by INI-like files). This can be used to port MRPT classes relying on INI files to using YAML files transparently. This feature required building MRPT with yaml-cpp, and is provided by CConfigFileMemory::setContentFromYAML().

See: Configuration file format in MRPT

Note

YAML support was introduced in MRPT 1.9.9

Definition at line 36 of file config/CConfigFileMemory.h.

#include <mrpt/config/CConfigFileMemory.h>

Inheritance diagram for mrpt::config::CConfigFileMemory:

Classes
struct	Impl

Public Member Functions
	CConfigFileMemory ()
	Empty constructor. More...
	CConfigFileMemory (const std::vector< std::string > &stringList)
	Constructor and initialize from a list of strings. More...
	CConfigFileMemory (const std::string &str)
	Constructor and initialize from string with the whole "config file". More...
	~CConfigFileMemory () override
	dtor More...
void	setContent (const std::vector< std::string > &stringList)
	Changes the contents of the virtual "config file". More...
void	setContent (const std::string &str)
	Changes the contents of the virtual "config file". More...
void	getContent (std::string &str) const
	Return the current contents of the virtual "config file". More...
std::string	getContent () const
void	clear () override
	Empties the virtual "config file". More...
void	getAllSections (std::vector< std::string > &sections) const override
	Returns a list with all the section names. More...
void	getAllKeys (const std::string &section, std::vector< std::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...
bool	keyExists (const std::string &section, const std::string &key) const
	Checks if a given key exists inside a section (case insensitive) More...
void	setContentFromYAML (const std::string &yaml_block)
	Changes the contents of the virtual "config file" from a text block containing a YAML configuration text. More...
std::string	getContentAsYAML () const
	Returns a text block representing the contents of the config file in YAML format. 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
mrpt::pimpl< Impl >	m_impl

Constructor & Destructor Documentation

CConfigFileMemory() [1/3]

CConfigFileMemory::CConfigFileMemory

(

)

Empty constructor.

Upon construction, call any of the "setContent" method

Definition at line 47 of file CConfigFileMemory.cpp.

CConfigFileMemory() [2/3]

CConfigFileMemory::CConfigFileMemory

(

const std::vector< std::string > &

stringList

)

Constructor and initialize from a list of strings.

Definition at line 28 of file CConfigFileMemory.cpp.

References mrpt::system::stringListAsString(), and THE_INI.

Here is the call graph for this function:

CConfigFileMemory() [3/3]

CConfigFileMemory::CConfigFileMemory

(

const std::string &

str

)

Constructor and initialize from string with the whole "config file".

Definition at line 37 of file CConfigFileMemory.cpp.

References THE_INI.

~CConfigFileMemory()

CConfigFileMemory::~CConfigFileMemory ( )

overridedefault

dtor

Member Function Documentation

clear()

void CConfigFileMemory::clear ( )

overridevirtual

Empties the virtual "config file".

Implements mrpt::config::CConfigFileBase.

Definition at line 138 of file CConfigFileMemory.cpp.

References m_impl.

getAllKeys()

void CConfigFileMemory::getAllKeys ( const std::string &  section, std::vector< std::string > &  keys  ) const

overridevirtual

Returs a list with all the keys into a section.

Implements mrpt::config::CConfigFileBase.

Definition at line 125 of file CConfigFileMemory.cpp.

References m_impl, and names.

Referenced by TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

Here is the caller graph for this function:

getAllSections()

void CConfigFileMemory::getAllSections ( std::vector< std::string > &  sections ) const

overridevirtual

Returns a list with all the section names.

Implements mrpt::config::CConfigFileBase.

Definition at line 113 of file CConfigFileMemory.cpp.

References m_impl, and names.

Referenced by mrpt::apps::RawlogGrabberApp::run(), TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

Here is the caller graph for this function:

getContent() [1/2]

void CConfigFileMemory::getContent

(

std::string &

str

)

const

Return the current contents of the virtual "config file".

Definition at line 65 of file CConfigFileMemory.cpp.

References m_impl.

Referenced by mrpt::img::TStereoCamera::dumpAsText(), mrpt::img::TCamera::dumpAsText(), mrpt::config::CLoadableOptions::dumpToTextStream(), mrpt::obs::CObservation3DRangeScan::getDescriptionAsText(), mrpt::nav::CAbstractNavigator::loadConfigFile(), and mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

Here is the caller graph for this function:

getContent() [2/2]

std::string mrpt::config::CConfigFileMemory::getContent ( ) const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 56 of file config/CConfigFileMemory.h.

getContentAsYAML()

std::string CConfigFileBase::getContentAsYAML ( ) const

inherited

Returns a text block representing the contents of the config file in YAML format.

See also

setContentFromYAML()

Definition at line 277 of file CConfigFileBase.cpp.

References MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

keyExists()

bool CConfigFileBase::keyExists ( const std::string &  section, const std::string &  key  ) const

inherited

Checks if a given key exists inside a section (case insensitive)

See also

sectionExists()

Definition at line 215 of file CConfigFileBase.cpp.

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

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

read_bool()

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

inherited

Definition at line 155 of file CConfigFileBase.cpp.

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

Referenced by mrpt::detectors::CFaceDetection::init(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::RawlogGrabberApp::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

Here is the call graph for this function:

Here is the caller graph for this function:

read_double()

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

inherited

Definition at line 106 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::detectors::CFaceDetection::init(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::img::TCamera::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams(), mrpt::nav::CPTG_RobotShape_Polygonal::loadShapeFromConfigFile(), mrpt::topography::path_from_rtk_gps(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

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

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::typemeta::TEnumType

Definition at line 269 of file config/CConfigFileBase.h.

References MRPT_END, MRPT_START, mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), mrpt::config::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::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::apps::ICP_SLAM_App_Base::run(), and mrpt::apps::RBPF_SLAM_App_Base::run().

Here is the call graph for this function:

Here is the caller graph for this function:

read_float()

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

inherited

Definition at line 118 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::hwdrivers::CWirelessPower::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIbeoLuxETH::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

Here is the call graph for this function:

Here is the caller graph for this function:

read_int()

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

inherited

Definition at line 130 of file CConfigFileBase.cpp.

References mrpt::format().

Referenced by mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::detectors::CFaceDetection::init(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CImpinjRFID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::graphslam::TSlidingWindow::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::ICP_SLAM_App_Base::run(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

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

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 230 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::readString(), and THROW_EXCEPTION_FMT.

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

Here is the call graph for this function:

Here is the caller graph for this function:

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 171 of file CConfigFileBase.cpp.

References mrpt::system::trim().

Referenced by mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::detectors::CCascadeClassifierDetection::init(), mrpt::apps::KFSLAMApp::initialize(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::TWaypointSequence::load(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CWirelessPower::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGillAnemometer::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRaePID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific(), mrpt::hwdrivers::CImpinjRFID::loadConfig_sensorSpecific(), mrpt::hwdrivers::CEnoseModular::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSICKTim561Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCANBusReader::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CBoardSonars::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CNationalInstrumentsDAQ::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::nav::CNavigatorManualSequence::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::img::TStereoCamera::loadFromConfigFile(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::loadFromConfigFile(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), mrpt::gui::CPanelCameraSelection::readConfigIntoVideoSourcePanel(), mrpt::apps::KFSLAMApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RawlogGrabberApp::SensorThread(), mrpt::apps::ICP_SLAM_App_Live::SensorThread(), TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

Here is the call graph for this function:

Here is the caller graph for this function:

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 182 of file CConfigFileBase.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

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 142 of file CConfigFileBase.cpp.

References mrpt::system::os::_strtoull(), and mrpt::format().

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(), mrpt::vision::TMultiResDescOptions::loadFromConfigFile(), and mrpt::hwdrivers::TCaptureOptions_FlyCapture2::loadOptionsFrom().

Here is the call graph for this function:

Here is the caller graph for this function:

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

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 194 of file config/CConfigFileBase.h.

References mrpt::config::CConfigFileBase::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::nav::CReactiveNavigationSystem::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::img::TCamera::loadFromConfigFile(), mrpt::nav::CHolonomicND::TOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), and mrpt::vision::TMultiResDescOptions::loadFromConfigFile().

Here is the call graph for this function:

Here is the caller graph for this function:

readString()

std::string CConfigFileMemory::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.

Implements mrpt::config::CConfigFileBase.

Definition at line 83 of file CConfigFileMemory.cpp.

References mrpt::format(), m_impl, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Here is the call graph for this function:

sectionExists()

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

inherited

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

See also

keyExists()

Definition at line 205 of file CConfigFileBase.cpp.

References mrpt::system::os::_strcmpi(), and sect.

Referenced by mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::apps::CGridMapAlignerApp::run(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

setContent() [1/2]

void CConfigFileMemory::setContent

(

const std::vector< std::string > &

stringList

)

Changes the contents of the virtual "config file".

Definition at line 52 of file CConfigFileMemory.cpp.

References mrpt::system::stringListAsString(), and THE_INI.

Referenced by mrpt::obs::CRawlog::getCommentTextAsConfigFile(), mrpt::apps::KFSLAMApp::initialize(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), mrpt::apps::RBPF_SLAM_App_Base::initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

setContent() [2/2]

void CConfigFileMemory::setContent

(

const std::string &

str

)

Changes the contents of the virtual "config file".

Definition at line 60 of file CConfigFileMemory.cpp.

References THE_INI.

setContentFromYAML()

void CConfigFileBase::setContentFromYAML ( const std::string &  yaml_block )

inherited

Changes the contents of the virtual "config file" from a text block containing a YAML configuration text.

Refer to unit test yaml2config_unittest.cpp for examples of use.

See also

getContentAsYAML()

Definition at line 225 of file CConfigFileBase.cpp.

References mrpt::containers::clear(), MRPT_END, MRPT_START, sect, THROW_EXCEPTION, and val.

Here is the call graph for this function:

write() [1/5]

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()  )

inlineinherited

Definition at line 107 of file config/CConfigFileBase.h.

Referenced by generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), run_rnav_test(), mrpt::nav::TWaypointSequence::save(), mrpt::nav::CPTG_DiffDrive_CC::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CCS::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CS::saveToConfigFile(), mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_alpha::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_C::saveToConfigFile(), mrpt::slam::CIncrementalMapPartitioner::TOptions::saveToConfigFile(), mrpt::img::TCamera::saveToConfigFile(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase::saveToConfigFile(), mrpt::nav::CHolonomicND::TOptions::saveToConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::saveToConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::nav::CPTG_RobotShape_Polygonal::saveToConfigFile(), mrpt::vision::TMultiResDescMatchOptions::saveToConfigFile(), mrpt::nav::CPTG_RobotShape_Circular::saveToConfigFile(), mrpt::vision::TMultiResDescOptions::saveToConfigFile(), TEST(), and mrpt::gui::CPanelCameraSelection::writeConfigFromVideoSourcePanel().

Here is the caller graph for this function:

write() [2/5]

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()  )

inlineinherited

Definition at line 124 of file config/CConfigFileBase.h.

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

Here is the call graph for this function:

write() [3/5]

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()  )

inlineinherited

Definition at line 135 of file config/CConfigFileBase.h.

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

Here is the call graph for this function:

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 38 of file CConfigFileBase.cpp.

References mrpt::format().

Here is the call graph for this function:

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 52 of file CConfigFileBase.cpp.

References mrpt::format().

Here is the call graph for this function:

writeString() [1/2]

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 70 of file CConfigFileBase.cpp.

References mrpt::format().

Here is the call graph for this function:

writeString() [2/2]

void CConfigFileMemory::writeString ( const std::string &  section, const std::string &  name, const std::string &  str  )

overrideprotectedvirtual

A virtual method to write a generic string.

Implements mrpt::config::CConfigFileBase.

Definition at line 71 of file CConfigFileMemory.cpp.

References MRPT_END, MRPT_START, THE_INI, and THROW_EXCEPTION.

Member Data Documentation

m_impl

mrpt::pimpl<Impl> mrpt::config::CConfigFileMemory::m_impl

private

Definition at line 74 of file config/CConfigFileMemory.h.

Referenced by clear(), getAllKeys(), getAllSections(), getContent(), and readString().