yaml_parsing_tools.hpp File Reference

#include <dynmsg/message_reading.hpp>
#include <dynmsg/msg_parser.hpp>
#include <dynmsg/typesupport.hpp>
#include <dynmsg/yaml_utils.hpp>
#include <Eigen/Dense>
#include <tl_expected/expected.hpp>
#include <string>
#include <std_msgs/msg/header.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <moveit_studio_sdk_msgs/msg/behavior_parameter.hpp>
#include <moveit_studio_vision_msgs/msg/object_subframe.hpp>
#include <yaml-cpp/yaml.h>

Include dependency graph for yaml_parsing_tools.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	YAML::convert< Eigen::Isometry3d >
	Macro to add YAML support for a given ROS message. More...
struct	YAML::convert< std::vector< std::string > >
	Decodes top level of structured YAML into a vector of strings. More...
struct	YAML::convert< BehaviorParameterList >
	Decodes structured YAML into a vector of BehaviorParameter ROS messages. More...

Namespaces
	moveit_studio
	moveit_studio::behaviors
	YAML

Macros
#define	ROS_MESSAGE_YAML_PARSER(package, message)

Typedefs
using	YAML::BehaviorParameterList = std::vector< moveit_studio_sdk_msgs::msg::BehaviorParameter >

Functions
template<class T >
void	moveit_studio::behaviors::parseROSMessage (const YAML::Node &node, const InterfaceTypeName &interface_type, T &rhs)
	Templated function to parse any ROS message from a YAML Node. More...
template<typename T >
void	moveit_studio::behaviors::saveROSMessage (YAML::Node &node, const InterfaceTypeName &interface_type, T msg)
	Templated function to save any ROS message to a YAML Node. More...
template<typename T >
tl::expected< T, std::string >	moveit_studio::behaviors::parseParameter (const YAML::Node &yaml, const std::string &parameter_name)
	Helper function for parsing a parameter from a YAML::Node. More...

Macro Definition Documentation

ROS_MESSAGE_YAML_PARSER

#define ROS_MESSAGE_YAML_PARSER	(		package,
			message
	)

Value:

  namespace YAML                                                                                                       \
  {                                                                                                                    \
  template <>                                                                                                          \
  struct convert<package::msg::message>                                                                                \
  {                                                                                                                    \
    static bool decode(const Node& node, package::msg::message& rhs)                                                   \
    {                                                                                                                  \
      if (!node.IsMap())                                                                                               \
      {                                                                                                                \
        return false;                                                                                                  \
      }                                                                                                                \
      moveit_studio::behaviors::parseROSMessage(node, InterfaceTypeName{ #package, #message }, rhs);                   \
      return true;                                                                                                     \
    }                                                                                                                  \
    static Node encode(const package::msg::message& rhs)                                                               \
    {                                                                                                                  \
      YAML::Node node;                                                                                                 \
      moveit_studio::behaviors::saveROSMessage(node, InterfaceTypeName{ #package, #message }, rhs);                    \
      return node;                                                                                                     \
    }                                                                                                                  \
  };                                                                                                                   \
  }