config/CConfigFileBase.h File Reference

#include <string>
#include <vector>
#include <type_traits>
#include <mrpt/system/string_utils.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/core/bits_math.h>

Include dependency graph for config/CConfigFileBase.h:

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Go to the source code of this file.

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

Macros
#define	MRPT_LOAD_CONFIG_VAR( variableName, variableType, configFileObject, sectionNameStr)
	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)
	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)
	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)
#define	MRPT_LOAD_HERE_CONFIG_VAR( variableName, variableType, targetVariable, configFileObject, sectionNameStr)
#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)
#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)
#define	MRPT_LOAD_HERE_CONFIG_VAR_CAST_NO_DEFAULT( variableName, variableType, variableTypeCast, targetVariable, configFileObject, sectionNameStr)
#define	MRPT_SAVE_CONFIG_VAR(variableName, configFileObject, sectionNameStr)
#define	MRPT_SAVE_CONFIG_VAR_DEGREES( variableName, configFileObject, sectionNameStr)
#define	MRPT_SAVE_CONFIG_VAR_COMMENT(variableName, __comment)
#define	MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT( __entryName, __variable, __comment)

Functions
int	mrpt::config::MRPT_SAVE_NAME_PADDING ()
	Default padding sizes for macros MRPT_SAVE_CONFIG_VAR_COMMENT(), etc. More...
int	mrpt::config::MRPT_SAVE_VALUE_PADDING ()

Macro Definition Documentation

MRPT_LOAD_CONFIG_VAR

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

Value:

{                                                             \
        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 282 of file config/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::hmtslam::CTopLCDetector_FabMap::TOptions::loadFromConfigFile(), mrpt::maps::CPointCloudFilterByDistance::TOptions::loadFromConfigFile(), mrpt::bayes::TKF_options::loadFromConfigFile(), mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::nav::CHolonomicVFF::TOptions::loadFromConfigFile(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::loadFromConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile(), mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::maps::TMapGenericParams::loadFromConfigFile(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::loadFromConfigFile(), mrpt::nav::CHolonomicND::TOptions::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile(), mrpt::maps::CBeaconMap::TInsertionOptions::loadFromConfigFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::maps::CPointsMap::TInsertionOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::loadFromConfigFile(), mrpt::maps::CColouredPointsMap::TColourOptions::loadFromConfigFile(), mrpt::maps::CPointsMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::maps::CPointsMap::TRenderOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::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
	)

Value:

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

Definition at line 315 of file config/CConfigFileBase.h.

Referenced by mrpt::vision::CFeatureExtraction::TOptions::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 400 of file config/CConfigFileBase.h.

Referenced by 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 291 of file config/CConfigFileBase.h.

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

MRPT_LOAD_CONFIG_VAR_DEGREES

#define MRPT_LOAD_CONFIG_VAR_DEGREES	(		variableName,
			configFileObject,
			sectionNameStr
	)

Value:

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

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

Definition at line 296 of file config/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::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), and mrpt::maps::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile().

MRPT_LOAD_CONFIG_VAR_DEGREES_NO_DEFAULT

#define MRPT_LOAD_CONFIG_VAR_DEGREES_NO_DEFAULT	(		variableName,
			configFileObject,
			sectionNameStr
	)

Value:

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

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

Definition at line 306 of file config/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 377 of file config/CConfigFileBase.h.

Referenced by IMPLEMENTS_SERIALIZABLE(), mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::loadConfigFile(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::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 397 of file config/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
	)

Value:

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

Definition at line 324 of file config/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::slam::CIncrementalMapPartitioner::TOptions::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
	)

Value:

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

Definition at line 420 of file config/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 427 of file config/CConfigFileBase.h.

MRPT_LOAD_HERE_CONFIG_VAR_DEGREES

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

Value:

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

Definition at line 349 of file config/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::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 357 of file config/CConfigFileBase.h.

Referenced by IMPLEMENTS_SERIALIZABLE(), mrpt::kinematics::CVehicleVelCmd::TVelCmdParams::loadConfigFile(), mrpt::nav::CPTG_Holo_Blend::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 330 of file config/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
	)

Value:

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

Definition at line 447 of file config/CConfigFileBase.h.

MRPT_SAVE_CONFIG_VAR_COMMENT

#define MRPT_SAVE_CONFIG_VAR_COMMENT	(		variableName,
			__comment
	)

Value:

{                                                            \
        c.write(                                                 \
            s, #variableName, variableName,                      \
            mrpt::config::MRPT_SAVE_NAME_PADDING(),              \
            mrpt::config::MRPT_SAVE_VALUE_PADDING(), __comment); \
    }

Definition at line 459 of file config/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::slam::CIncrementalMapPartitioner::TOptions::saveToConfigFile(), mrpt::slam::CICP::TConfigParams::saveToConfigFile(), mrpt::nav::CHolonomicVFF::TOptions::saveToConfigFile(), mrpt::maps::TMapGenericParams::saveToConfigFile(), mrpt::nav::CHolonomicND::TOptions::saveToConfigFile(), mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::saveToConfigFile(), mrpt::nav::CHolonomicFullEval::TOptions::saveToConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::saveToConfigFile(), and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile().

MRPT_SAVE_CONFIG_VAR_DEGREES

#define MRPT_SAVE_CONFIG_VAR_DEGREES	(		variableName,
			configFileObject,
			sectionNameStr
	)

Value:

{                                                                    \
        configFileObject.write(                                          \
            sectionNameStr, #variableName, mrpt::RAD2DEG(variableName)); \
    }

Definition at line 452 of file config/CConfigFileBase.h.

MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT

#define MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT	(		__entryName,
			__variable,
			__comment
	)

Value:

{                                                            \
        c.write(                                                 \
            s, __entryName, mrpt::RAD2DEG(__variable),           \
            mrpt::config::MRPT_SAVE_NAME_PADDING(),              \
            mrpt::config::MRPT_SAVE_VALUE_PADDING(), __comment); \
    }

Definition at line 466 of file config/CConfigFileBase.h.

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