param_provider.h

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// clang: MatousFormat
#ifndef PARAM_PROVIDER_H
#define PARAM_PROVIDER_H
 
#include <optional>
 
#include <yaml-cpp/yaml.h>
#include <ros/node_handle.h>
 
namespace mrs_lib
{
 
/*** ParamProvider CLASS //{ **/
 
  class ParamProvider
  {
    public:
 
      ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam = true);
 
      bool addYamlFile(const std::string& filepath);
 
      template <typename T>
      bool getParam(const std::string& param_name, T& value_out) const;
 
      bool getParam(const std::string& param_name, XmlRpc::XmlRpcValue& value_out) const;
 
    private:
 
      std::vector<YAML::Node> m_yamls;
      ros::NodeHandle m_nh;
      std::string m_node_name;
      bool m_use_rosparam;
 
      template <typename T>
      bool getParamImpl(const std::string& param_name, T& value_out) const;
 
      std::optional<YAML::Node> findYamlNode(const std::string& param_name) const;
  };
//}
}
 
#include "mrs_lib/impl/param_provider.hpp"
 
#endif // PARAM_PROVIDER_H