ompl/base/GenericParam.h
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_BASE_GENERIC_PARAM_ 00038 #define OMPL_BASE_GENERIC_PARAM_ 00039 00040 #include "ompl/util/Console.h" 00041 #include "ompl/util/ClassForward.h" 00042 #include <boost/function.hpp> 00043 #include <boost/lexical_cast.hpp> 00044 #include <boost/type_traits.hpp> 00045 #include <iostream> 00046 #include <string> 00047 #include <vector> 00048 #include <map> 00049 00050 namespace ompl 00051 { 00052 namespace base 00053 { 00054 00056 00057 OMPL_CLASS_FORWARD(GenericParam); 00059 00065 class GenericParam 00066 { 00067 public: 00068 00070 GenericParam(const std::string &name) : name_(name) 00071 { 00072 } 00073 00074 virtual ~GenericParam() 00075 { 00076 } 00077 00079 const std::string& getName() const 00080 { 00081 return name_; 00082 } 00083 00085 void setName(const std::string &name) 00086 { 00087 name_ = name; 00088 } 00089 00091 virtual bool setValue(const std::string &value) = 0; 00092 00094 virtual std::string getValue() const = 0; 00095 00097 template<typename T> 00098 GenericParam& operator=(const T &value) 00099 { 00100 try 00101 { 00102 setValue(boost::lexical_cast<std::string>(value)); 00103 } 00104 catch (boost::bad_lexical_cast &e) 00105 { 00106 OMPL_WARN("Invalid value format specified for parameter '%s': %s", name_.c_str(), e.what()); 00107 } 00108 return *this; 00109 } 00110 00112 void setRangeSuggestion(const std::string &rangeSuggestion) 00113 { 00114 rangeSuggestion_ = rangeSuggestion; 00115 } 00116 00118 const std::string& getRangeSuggestion() const 00119 { 00120 return rangeSuggestion_; 00121 } 00122 00123 protected: 00124 00127 template<typename T> 00128 const std::string& maybeWrapBool(const std::string &value) const 00129 { 00130 return boost::is_same<T, bool>::value ? truthValueTo01Str(value) : value; 00131 } 00132 00134 std::string name_; 00135 00149 std::string rangeSuggestion_; 00150 00151 private: 00153 static const std::string& truthValueTo01Str(const std::string &value); 00154 }; 00155 00156 00158 template<typename T> 00159 class SpecificParam : public GenericParam 00160 { 00161 public: 00162 00164 typedef boost::function<void(T)> SetterFn; 00165 00167 typedef boost::function<T()> GetterFn; 00168 00171 SpecificParam(const std::string &name, const SetterFn &setter, const GetterFn &getter = GetterFn()) : 00172 GenericParam(name), setter_(setter), getter_(getter) 00173 { 00174 if (!setter_ && !getter_) 00175 OMPL_ERROR("At least one setter or getter function must be specified for parameter"); 00176 } 00177 00178 virtual ~SpecificParam() 00179 { 00180 } 00181 00182 virtual bool setValue(const std::string &value) 00183 { 00184 bool result = true; 00185 try 00186 { 00187 if (setter_) 00188 setter_(boost::lexical_cast<T>(GenericParam::maybeWrapBool<T>(value))); 00189 } 00190 catch (boost::bad_lexical_cast &e) 00191 { 00192 result = false; 00193 OMPL_WARN("Invalid value format specified for parameter '%s': %s", name_.c_str(), e.what()); 00194 } 00195 00196 if (getter_) 00197 OMPL_DEBUG("The value of parameter '%s' is now: '%s'", name_.c_str(), getValue().c_str()); 00198 else 00199 OMPL_DEBUG("The value of parameter '%s' was set to: '%s'", name_.c_str(), value.c_str()); 00200 return result; 00201 } 00202 00203 virtual std::string getValue() const 00204 { 00205 if (getter_) 00206 try 00207 { 00208 return boost::lexical_cast<std::string>(getter_()); 00209 } 00210 catch (boost::bad_lexical_cast &e) 00211 { 00212 OMPL_WARN("Unable to parameter '%s' to string: %s", name_.c_str(), e.what()); 00213 return ""; 00214 } 00215 else 00216 return ""; 00217 } 00218 00219 protected: 00220 00222 SetterFn setter_; 00223 00225 GetterFn getter_; 00226 }; 00227 00229 00230 OMPL_CLASS_FORWARD(ParamSet); 00232 00234 class ParamSet 00235 { 00236 public: 00237 00239 template<typename T> 00240 void declareParam(const std::string &name, const typename SpecificParam<T>::SetterFn &setter, 00241 const typename SpecificParam<T>::GetterFn &getter = typename SpecificParam<T>::GetterFn()) 00242 { 00243 params_[name].reset(new SpecificParam<T>(name, setter, getter)); 00244 } 00245 00247 void add(const GenericParamPtr ¶m); 00248 00250 void remove(const std::string &name); 00251 00253 void include(const ParamSet &other, const std::string &prefix = ""); 00254 00268 bool setParam(const std::string &key, const std::string &value); 00269 00271 bool getParam(const std::string &key, std::string &value) const; 00272 00278 bool setParams(const std::map<std::string, std::string> &kv, bool ignoreUnknown = false); 00279 00281 void getParams(std::map<std::string, std::string> ¶ms) const; 00282 00284 void getParamNames(std::vector<std::string> ¶ms) const; 00285 00287 void getParamValues(std::vector<std::string> &vals) const; 00288 00290 const std::map<std::string, GenericParamPtr>& getParams() const; 00291 00293 const GenericParamPtr& getParam(const std::string &key) const; 00294 00296 bool hasParam(const std::string &key) const; 00297 00299 GenericParam& operator[](const std::string &key); 00300 00302 std::size_t size() const 00303 { 00304 return params_.size(); 00305 } 00306 00308 void clear(); 00309 00311 void print(std::ostream &out) const; 00312 00313 private: 00314 00315 std::map<std::string, GenericParamPtr> params_; 00316 }; 00317 } 00318 } 00319 00320 #endif