ConfigurationHelpers.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_rtc/Configuration.h>
#include <mc_rtc/logging.h>
 
namespace mc_rtc
{
 
template<typename T>
std::vector<T> fromVectorOrElement(const mc_rtc::Configuration & config,
                                   const std::string & key,
                                   const std::vector<T> & defaultVec)
{
  if(!config.has(key)) { return defaultVec; }
  const auto & c = config(key);
  try
  {
    // Try to convert configuration as a vector
    std::vector<T> vec = c;
    return vec;
  }
  catch(mc_rtc::Configuration::Exception & notAVec)
  { // If that fails, try to convert as an element
    notAVec.silence();
    try
    {
      T elem = c;
      return std::vector<T>(1, elem);
    }
    catch(mc_rtc::Configuration::Exception & notAnElem)
    { // If that fails as well, return the default
      notAnElem.silence();
      return defaultVec;
    }
  }
}
 
template<typename T>
std::vector<T> fromVectorOrElement(const mc_rtc::Configuration & config, const std::string & key)
{
  std::vector<T> vec;
  const auto & c = config(key);
  try
  {
    vec = c;
  }
  catch(mc_rtc::Configuration::Exception & notAVec)
  {
    notAVec.silence();
    try
    {
      T elem = c;
      vec.push_back(elem);
    }
    catch(mc_rtc::Configuration::Exception & notAnElem)
    {
      notAnElem.silence();
      auto msg = fmt::format("Configuration {} is not valid. It should be a vector or single element.", key);
      log::critical(msg);
      throw mc_rtc::Configuration::Exception(msg, c);
    }
  }
  return vec;
}
 
void MC_RTC_UTILS_DLLAPI overwriteRotationRPY(const mc_rtc::Configuration & config, Eigen::Matrix3d & rotation);
 
} // namespace mc_rtc