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GenericParam.cpp
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164 lines (145 loc) · 5.24 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/base/GenericParam.h"
#include "ompl/util/Exception.h"
const std::string &ompl::base::GenericParam::truthValueTo01Str(const std::string &value)
{
static const std::string falseValue = "0";
static const std::string trueValue = "1";
return (value.empty() || value == falseValue || value == "false" || value == "FALSE" || value == "False" ||
value == "f" || value == "F") ?
falseValue :
trueValue;
}
bool ompl::base::ParamSet::setParam(const std::string &key, const std::string &value)
{
std::map<std::string, GenericParamPtr>::const_iterator it = params_.find(key);
if (it != params_.end())
return it->second->setValue(value);
OMPL_ERROR("Parameter '%s' was not found", key.c_str());
return false;
}
bool ompl::base::ParamSet::setParams(const std::map<std::string, std::string> &kv, bool ignoreUnknown)
{
bool result = true;
for (const auto &it : kv)
{
if (ignoreUnknown)
if (!hasParam(it.first))
continue;
bool r = setParam(it.first, it.second);
result = result && r;
}
return result;
}
bool ompl::base::ParamSet::getParam(const std::string &key, std::string &value) const
{
auto it = params_.find(key);
if (it != params_.end())
{
value = it->second->getValue();
return true;
}
return false;
}
void ompl::base::ParamSet::getParamNames(std::vector<std::string> ¶ms) const
{
params.clear();
params.reserve(params_.size());
for (const auto ¶m : params_)
params.push_back(param.first);
}
void ompl::base::ParamSet::getParamValues(std::vector<std::string> &vals) const
{
std::vector<std::string> names;
getParamNames(names);
vals.resize(names.size());
for (std::size_t i = 0; i < names.size(); ++i)
vals[i] = params_.find(names[i])->second->getValue();
}
const std::map<std::string, ompl::base::GenericParamPtr> &ompl::base::ParamSet::getParams() const
{
return params_;
}
const ompl::base::GenericParamPtr &ompl::base::ParamSet::getParam(const std::string &key) const
{
static GenericParamPtr empty;
auto it = params_.find(key);
if (it != params_.end())
return it->second;
return empty;
}
void ompl::base::ParamSet::getParams(std::map<std::string, std::string> ¶ms) const
{
for (const auto ¶m : params_)
params[param.first] = param.second->getValue();
}
bool ompl::base::ParamSet::hasParam(const std::string &key) const
{
return params_.find(key) != params_.end();
}
ompl::base::GenericParam &ompl::base::ParamSet::operator[](const std::string &key)
{
if (!hasParam(key))
throw Exception("Parameter '%s' is not defined", key);
return *getParam(key);
}
void ompl::base::ParamSet::include(const ParamSet &other, const std::string &prefix)
{
const std::map<std::string, GenericParamPtr> &p = other.getParams();
if (prefix.empty())
for (const auto &it : p)
params_[it.first] = it.second;
else
for (const auto &it : p)
params_[prefix + "." + it.first] = it.second;
}
void ompl::base::ParamSet::add(const GenericParamPtr ¶m)
{
params_[param->getName()] = param;
}
void ompl::base::ParamSet::remove(const std::string &name)
{
params_.erase(name);
}
void ompl::base::ParamSet::clear()
{
params_.clear();
}
void ompl::base::ParamSet::print(std::ostream &out) const
{
for (const auto ¶m : params_)
out << param.first << " = " << param.second->getValue() << std::endl;
}