Simplify access to values hold within a JSON file. More...

#include <mc_rtc/Configuration.h>

Inheritance diagram for mc_rtc::Configuration:

Classes
struct	Exception
	Exception thrown by this class when something bad occurs. More...

Public Member Functions
MC_RTC_DEPRECATED bool	isMember (const std::string &key) const
	Deprecated, see has. More...

bool	has (const std::string &key) const
	Check if the key is part of the conf. More...

	operator bool () const
	Cast to bool. More...

	operator int8_t () const
	Cast to int8_t. More...

	operator uint8_t () const
	Cast to uint8_t. More...

	operator int16_t () const
	Cast to int16_t. More...

	operator uint16_t () const
	Cast to uint16_t. More...

	operator int32_t () const
	Cast to int32_t. More...

	operator uint32_t () const
	Cast to uint32_t. More...

	operator int64_t () const
	Cast to int64_t. More...

	operator uint64_t () const
	Cast to uint64_t. More...

	operator double () const
	Cast to double. More...

	operator std::string () const
	Cast to a string. More...

	operator Eigen::Vector2d () const
	Retrieve as a Eigen::Vector2d instance. More...

	operator Eigen::Vector3d () const
	Retrieve as a Eigen::Vector3d instance. More...

	operator Eigen::Vector4d () const
	Retrieve as a Eigen::Vector4d instance. More...

	operator Eigen::Vector6d () const
	Retrieve as a Eigen::Vector6d instance. More...

	operator mc_rbdyn::Gains2d () const
	Retrieve as a mc_rbdyn::Gains2d instance. More...

	operator mc_rbdyn::Gains3d () const
	Retrieve as a mc_rbdyn::Gains3d instance. More...

	operator mc_rbdyn::Gains6d () const
	Retrieve as a mc_rbdyn::Gains6d instance. More...

	operator Eigen::VectorXd () const
	Retrieve as a Eigen::VectorXd instance. More...

	operator Eigen::Quaterniond () const
	Retrieve as a Eigen::Quaterniond instance. More...

	operator Eigen::Matrix3d () const
	Retrieve as a Eigen::Matrix3d instance. More...

	operator Eigen::Matrix6d () const
	Retrieve as a Eigen::Matrix6d instance. More...

	operator Eigen::MatrixXd () const
	Retrieve as a Eigen::MatrixXd instance. More...

	operator sva::PTransformd () const
	Retrieve as an sva::PTransformd. More...

	operator sva::ForceVecd () const
	Retrieve as an sva::ForceVecd. More...

	operator sva::MotionVecd () const
	Retrieve as an sva::MotionVecd. More...

	operator sva::ImpedanceVecd () const
	Retrieve as an sva::ImpedanceVecd. More...

template<class T , class A >
	operator std::vector< T, A > () const
	Retrieve a vector instance. More...

template<class T , std::size_t N>
	operator std::array< T, N > () const
	Retrieve an array instance. More...

template<class T1 , class T2 >
	operator std::pair< T1, T2 > () const
	Retrieve a pair instance. More...

template<typename T , class C , class A >
	operator std::map< std::string, T, C, A > () const
	Retrieve a string-indexed map instance. More...

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>>
	operator std::set< T, C, A > () const
	Retrieve a set of objects. More...

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>>
	operator std::unordered_set< T, H, E, A > () const
	Retrieve an unordered set of objects. More...

template<typename... Args>
	operator std::variant< Args... > () const

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>
	operator T () const

template<typename T , typename std::enable_if< internal::has_configuration_load_object_v< T >\|\|internal::has_static_fromConfiguration_v< T >, int >::type = 0>
	operator T () const
	User-defined conversions. More...

template<typename T >
	operator std::optional< T > () const
	Retrieves an optional<T> More...

	Configuration ()
	Creates an empty configuration. More...

	Configuration (const std::string &path)
	Constructor using a file path. More...

	Configuration (const char *path)
	Constructor using a file path (C-style string) More...

void	load (const std::string &path)
	Load more data into the configuration. More...

void	load (const mc_rtc::Configuration &config)
	Load data from another Configuration object. More...

void	loadData (const std::string &data)
	Load data from a JSON string. More...

void	loadYAMLData (const std::string &data)
	Load data from a YAML string. More...

void	save (const std::string &path, bool pretty=true) const
	Save the configuration to a file. More...

std::string	dump (bool pretty=false, bool yaml=false) const
	Dump the configuration into a string. More...

size_t	toMessagePack (std::vector< char > &data) const
	Convert to MessagePack. More...

void	toMessagePack (MessagePackBuilder &builder) const
	Append to an existing MessagePackBuilder. More...

Configuration	operator() (const std::string &key) const
	Returns a Entry value stored within the configuration. More...

std::optional< Configuration >	find (const std::string &key) const
	Returns the Configuration entry if it exists, std::nullopt otherwise. More...

template<typename... Args>
std::optional< Configuration >	find (const std::string &key, Args &&... others) const
	Return the Configuration entry at (key, others...) if it exists, std::nullopt otherwise. More...

template<typename T , typename... Args>
std::optional< T >	find (const std::string &key, Args &&... others) const
	Return the Configuration entry at (key, others...) if it exists, std::nullopt otherwise. More...

bool	empty () const
	Returns true if the underlying array or underlying object is empty. More...

size_t	size () const
	If the stored value is an array, returns its size, otherwise returns 0. More...

bool	isArray () const noexcept
	Returns true if the underlying value is an array. More...

bool	isObject () const noexcept
	Returns true if the underlying value is an object. More...

bool	isString () const noexcept
	Returns true if the underlying value is a string. More...

bool	isNumeric () const noexcept
	Returns true if the underlying value is numeric. More...

Configuration	operator[] (size_t i) const
	If the stored value is an array, return a Configuration element for the i-th element. More...

template<typename T >
T	at (size_t i, const T &v) const
	Retrieve a given value from a JSON array. More...

template<typename T >
void	operator() (const std::string &key, T &v) const
	Retrieve and store a given value stored within the configuration. More...

template<typename T >
T	operator() (const std::string &key, const T &v) const
	Retrieve a given value stored within the configuration with a default value. More...

bool	operator== (const char *rhs) const
	Non-template version for C-style strings comparison. More...

template<typename T >
bool	operator== (const T &rhs) const
	Compare stored values with given value. More...

void	add_null (const std::string &key)
	Add a null element to the configuration. More...

void	add (const std::string &key, bool value)
	Add a bool element to the Configuration. More...

void	add (const std::string &key, int8_t value)
	Add a int64_t element to the Configuration. More...

void	add (const std::string &key, uint8_t value)
	Add a uint8_t element to the Configuration. More...

void	add (const std::string &key, int16_t value)
	Add a int16_t element to the Configuration. More...

void	add (const std::string &key, uint16_t value)
	Add a uint16_t element to the Configuration. More...

void	add (const std::string &key, int32_t value)
	Add a int32_t element to the Configuration. More...

void	add (const std::string &key, uint32_t value)
	Add a uint32_t element to the Configuration. More...

void	add (const std::string &key, int64_t value)
	Add a int64_t element to the Configuration. More...

void	add (const std::string &key, uint64_t value)
	Add a uint64_t element to the Configuration. More...

void	add (const std::string &key, double value)
	Add a double element to the Configuration. More...

void	add (const std::string &key, const std::string &value)
	Add a std::string element to the Configuration. More...

void	add (const std::string &key, const char *value)
	Add a const char* element to the Configuration, Behaves like std::string. More...

void	add (const std::string &key, const Eigen::Vector2d &value)
	Add a Eigen::Vector2d element to the Configuration. More...

void	add (const std::string &key, const Eigen::Vector3d &value)
	Add a Eigen::Vector3d element to the Configuration. More...

void	add (const std::string &key, const Eigen::Vector4d &value)
	Add a Eigen::Vector4d element to the Configuration. More...

void	add (const std::string &key, const Eigen::Vector6d &value)
	Add a Eigen::Vector6d element to the Configuration. More...

void	add (const std::string &key, const Eigen::VectorXd &value)
	Add a Eigen::VectorXd element to the Configuration. More...

void	add (const std::string &key, const Eigen::Quaterniond &value)
	Add a Eigen::Quaterniond element to the Configuration. More...

void	add (const std::string &key, const Eigen::Matrix3d &value)
	Add a Eigen::Matrix3d element to the Configuration. More...

void	add (const std::string &key, const Eigen::Matrix6d &value)
	Add a Eigen::Matrix6d element to the Configuration. More...

void	add (const std::string &key, const Eigen::MatrixXd &value)
	Add an Eigen::MatrixXd element to the Configuration. More...

void	add (const std::string &key, const sva::PTransformd &value)
	Add an sva::PTransformd element to the Configuration. More...

void	add (const std::string &key, const sva::ForceVecd &value)
	Add an sva::ForceVecd element to the Configuration. More...

void	add (const std::string &key, const sva::MotionVecd &value)
	Add an sva::MotionVecd element to the Configuration. More...

void	add (const std::string &key, const sva::ImpedanceVecd &value)
	Add an sva::ImpedanceVecd element to the Configuration. More...

void	add (const std::string &key, const Configuration &value)
	Add another Configuration to the Configuration. More...

Configuration	add (const std::string &key)
	Create an empty object in the Configuration. More...

Configuration	array (const std::string &key, size_t size=0)
	Create an empty array in the Configuration. More...

void	push_null ()
	Insert a null value into an array. More...

void	push (bool value)
	Insert a bool element into an array. More...

void	push (int8_t value)
	Insert a int8_t element int8_to an array. More...

void	push (uint8_t value)
	Insert a uint8_t element into an array. More...

void	push (int16_t value)
	Insert a int16_t element int16_to an array. More...

void	push (uint16_t value)
	Insert a uint16_t element into an array. More...

void	push (int32_t value)
	Insert a int32_t element int32_to an array. More...

void	push (uint32_t value)
	Insert a uint32_t element into an array. More...

void	push (int64_t value)
	Insert a int64_t element int64_to an array. More...

void	push (uint64_t value)
	Insert a uint64_t element into an array. More...

void	push (double value)
	Insert a double element into an array. More...

void	push (const std::string &value)
	Insert a std::string element into an array. More...

void	push (const char *value)
	Insert a const char * element into an array Behaves like push(std::string) More...

void	push (const Eigen::Vector2d &value)
	Insert a Eigen::Vector2d element into an array. More...

void	push (const Eigen::Vector3d &value)
	Insert a Eigen::Vector3d element into an array. More...

void	push (const Eigen::Vector4d &value)
	Insert a Eigen::Vector4d element into an array. More...

void	push (const Eigen::Vector6d &value)
	Insert a Eigen::Vector6d element into an array. More...

void	push (const Eigen::VectorXd &value)
	Insert a Eigen::VectorXd element into an array. More...

void	push (const Eigen::Quaterniond &value)
	Insert a Eigen::Quaterniond element into an array. More...

void	push (const Eigen::Matrix3d &value)
	Insert a Eigen::Matrix3d element into an array. More...

void	push (const Eigen::Matrix6d &value)
	Insert a Eigen::Matrix6d element into an array. More...

void	push (const Eigen::MatrixXd &value)
	Insert a Eigen::MatrixXd element into an array. More...

void	push (const sva::PTransformd &value)
	Insert an sva::PTransformd element into an array. More...

void	push (const sva::ForceVecd &value)
	Insert an sva::ForceVecd element into an array. More...

void	push (const sva::MotionVecd &value)
	Insert an sva::MotionVecd element into an array. More...

void	push (const sva::ImpedanceVecd &value)
	Insert an sva::ImpedanceVecd element into an array. More...

void	push (const Configuration &value)
	Push a Configuration element into an array. More...

Configuration	array (size_t reserve=0)
	Push an empty array. More...

Configuration	object ()
	Push an empty object. More...

template<typename T , typename... Args, typename std::enable_if< internal::has_configuration_save_object_v< T, Args... >\|\|internal::has_toConfiguration_method_v< T, Args... >, int >::type = 0>
void	push (const T &value, Args &&... args)
	User-defined conversion. More...

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>
void	push (const T &value)

template<typename T , typename A = std::allocator<T>, typename... Args>
void	add (const std::string &key, const std::vector< T, A > &value, Args &&... args)
	Add a vector into the JSON document. More...

template<typename T , std::size_t N, typename... Args>
void	add (const std::string &key, const std::array< T, N > &value, Args &&... args)
	Add an array into the JSON document. More...

template<typename T1 , typename T2 , typename... Args>
void	add (const std::string &key, const std::pair< T1, T2 > &value, Args &&... args)
	Add a pair into the JSON document. More...

template<typename T , class C = std::less<std::string>, class A = std::allocator<std::pair<const std::string, T>>, typename... Args>
void	add (const std::string &key, const std::map< std::string, T, C, A > &value, Args &&... args)
	Add string-indexed map into the JSON document. More...

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>, typename... Args>
void	add (const std::string &key, const std::set< T, C, A > &value, Args &&... args)
	Add a set into the JSON document. More...

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>, typename... Args>
void	add (const std::string &key, const std::unordered_set< T, H, E, A > &value, Args &&... args)
	Add an unordered set into the JSON document. More...

template<typename... Args>
void	add (const std::string &key, const std::variant< Args... > &value)
	Add a variant object into the JSON document. More...

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>
void	add (const std::string &key, const T &value)

template<typename T , typename... Args, typename std::enable_if< internal::has_configuration_save_object_v< T, Args... >\|\|internal::has_toConfiguration_method_v< T, Args... >, int >::type = 0>
void	add (const std::string &key, const T &value, Args &&... args)
	User-defined conversion. More...

template<typename T , typename A = std::allocator<T>, typename... Args>
void	push (const std::vector< T, A > &value, Args &&... args)
	Push a vector into the JSON document. More...

template<typename T , std::size_t N, typename... Args>
void	push (const std::array< T, N > &value, Args &&... args)
	Push an array into the JSON document. More...

template<typename T1 , typename T2 , typename... Args>
void	push (const std::pair< T1, T2 > &value, Args &&... args)
	Push a pair into the JSON document. More...

template<typename T , class C = std::less<std::string>, class A = std::allocator<std::pair<const std::string, T>>, typename... Args>
void	push (const std::map< std::string, T, C, A > &value, Args &&... args)
	Push a string-indexed map into the JSON document. More...

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>, typename... Args>
void	push (const std::set< T, C, A > &value, Args &&... args)
	Push a set into the JSON document. More...

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>, typename... Args>
void	push (const std::unordered_set< T, H, E, A > &value, Args &&... args)
	Push an unordered set into the JSON document. More...

template<typename... Args>
void	push (const std::variant< Args... > &value)
	Push a variant object into the JSON document. More...

bool	remove (const std::string &key)

std::vector< std::string >	keys () const

ConfigurationArrayIterator	begin () const

ConfigurationArrayIterator	end () const

template<>
void MC_RTC_UTILS_DLLAPI	operator() (const std::string &key, std::string &v) const
	Specialized version to lift ambiguity. More...

Static Public Member Functions
static Configuration	rootArray ()
	Returns a Configuration with an array as root entry. More...

static Configuration	fromData (const std::string &data)
	Static constructor to load from JSON data. More...

static Configuration	fromData (const char *data)
	Static constructor to load from JSON data (C overload) More...

static Configuration	fromYAMLData (const std::string &data)
	Static constructor to load from YAML data. More...

static Configuration	fromYAMLData (const char *data)
	Static constructor to load from YAML data (C overload) More...

static Configuration	fromMessagePack (const char *data, size_t size)
	Static constructor to load from MessagePack data. More...

Detailed Description

Simplify access to values hold within a JSON file.

Configuration values can be accessed using a key system, type conversion are ensured by the class.

Constructor & Destructor Documentation

◆ Configuration() [1/3]

mc_rtc::Configuration::Configuration ( )

Creates an empty configuration.

◆ Configuration() [2/3]

mc_rtc::Configuration::Configuration ( const std::string & path )

Constructor using a file path.

Parameters

path	Path to the configuration file

◆ Configuration() [3/3]

mc_rtc::Configuration::Configuration ( const char * path )

Constructor using a file path (C-style string)

Parameters

path	Path to the configuration file

Member Function Documentation

◆ add() [1/36]

Configuration mc_rtc::Configuration::add ( const std::string & key )

Create an empty object in the Configuration.

Overwrite existing content if any.

Parameters

key	Key to add

◆ add() [2/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		bool	value
	)

Add a bool element to the Configuration.

Overrides the existing value if it holds one for the given key.

Parameters

key	Key of the element
value	Value of the element

◆ add() [3/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const char *	value
	)

Add a const char* element to the Configuration, Behaves like std::string.

See also: add(const std::string&, bool)

◆ add() [4/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Configuration &	value
	)

Add another Configuration to the Configuration.

See also: add(const std::string&, bool)

◆ add() [5/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Matrix3d &	value
	)

Add a Eigen::Matrix3d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [6/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Matrix6d &	value
	)

Add a Eigen::Matrix6d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [7/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::MatrixXd &	value
	)

Add an Eigen::MatrixXd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [8/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Quaterniond &	value
	)

Add a Eigen::Quaterniond element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [9/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Vector2d &	value
	)

Add a Eigen::Vector2d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [10/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Vector3d &	value
	)

Add a Eigen::Vector3d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [11/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Vector4d &	value
	)

Add a Eigen::Vector4d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [12/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::Vector6d &	value
	)

Add a Eigen::Vector6d element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [13/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const Eigen::VectorXd &	value
	)

Add a Eigen::VectorXd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [14/36]

template<typename T , std::size_t N, typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::array< T, N > &	value,
		Args &&...	args
	)

inline

Add an array into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Array of elements to add

◆ add() [15/36]

template<typename T , class C = std::less<std::string>, class A = std::allocator<std::pair<const std::string, T>>, typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::map< std::string, T, C, A > &	value,
		Args &&...	args
	)

inline

Add string-indexed map into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Map of elements to add

◆ add() [16/36]

template<typename T1 , typename T2 , typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::pair< T1, T2 > &	value,
		Args &&...	args
	)

inline

Add a pair into the JSON document.

Overwrite existing content if any.

Parameters

key	Key of the element
value	Pair to add

◆ add() [17/36]

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::set< T, C, A > &	value,
		Args &&...	args
	)

inline

Add a set into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Set of elements to add

◆ add() [18/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::string &	value
	)

Add a std::string element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [19/36]

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::unordered_set< T, H, E, A > &	value,
		Args &&...	args
	)

inline

Add an unordered set into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Set of elements to add

◆ add() [20/36]

template<typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::variant< Args... > &	value
	)

inline

Add a variant object into the JSON document.

The variant is written as [value.index(), std::get<value.index()>(value)]

Exceptions

If	the variant is in valueless state

Parameters

key	Key of the element
value	Variant value to add

◆ add() [21/36]

template<typename T , typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const std::vector< T, A > &	value,
		Args &&...	args
	)

inline

Add a vector into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Vector of elements to add

◆ add() [22/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const sva::ForceVecd &	value
	)

Add an sva::ForceVecd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [23/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const sva::ImpedanceVecd &	value
	)

Add an sva::ImpedanceVecd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [24/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const sva::MotionVecd &	value
	)

Add an sva::MotionVecd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [25/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		const sva::PTransformd &	value
	)

Add an sva::PTransformd element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [26/36]

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const T &	value
	)

inline

Integral type conversions

Parameters

Key	key of the element
value	Value to add

◆ add() [27/36]

template<typename T , typename... Args, typename std::enable_if< internal::has_configuration_save_object_v< T, Args... >||internal::has_toConfiguration_method_v< T, Args... >, int >::type = 0>

void mc_rtc::Configuration::add	(	const std::string &	key,
		const T &	value,
		Args &&...	args
	)

inline

User-defined conversion.

Requires the existence of: mc_rtc::Configuration mc_rtc::ConfigurationLoader<T>::save(const T&, Args ... args);

Parameters

key	Key of the element
value	Value to add

◆ add() [28/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		double	value
	)

Add a double element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [29/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		int16_t	value
	)

Add a int16_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [30/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		int32_t	value
	)

Add a int32_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [31/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		int64_t	value
	)

Add a int64_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [32/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		int8_t	value
	)

Add a int64_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [33/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		uint16_t	value
	)

Add a uint16_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [34/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		uint32_t	value
	)

Add a uint32_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [35/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		uint64_t	value
	)

Add a uint64_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add() [36/36]

void mc_rtc::Configuration::add	(	const std::string &	key,
		uint8_t	value
	)

Add a uint8_t element to the Configuration.

See also: add(const std::string&, bool)

◆ add_null()

void mc_rtc::Configuration::add_null ( const std::string & key )

Add a null element to the configuration.

Overrides the existing value if it holds one for the given key

Parameters

key	Key of the element

◆ array() [1/2]

Configuration mc_rtc::Configuration::array	(	const std::string &	key,
		size_t	size = `0`
	)

Create an empty array in the Configuration.

Overwrite existing content if any.

Parameters

key	Key to add
size	Size that is reserved for the array

◆ array() [2/2]

Configuration mc_rtc::Configuration::array ( size_t reserve = 0 )

Push an empty array.

See also: push(bool);

◆ at()

template<typename T >

T mc_rtc::Configuration::at	(	size_t	i,
		const T &	v
	)		const

inline

Retrieve a given value from a JSON array.

Returns the default value if the index is too high or if the underlying value does not match the requested type.

Parameters

i	Index to retrieve
v	The default value

◆ begin()

ConfigurationArrayIterator mc_rtc::Configuration::begin ( ) const

◆ dump()

std::string mc_rtc::Configuration::dump	(	bool	pretty = `false`,
		bool	yaml = `false`
	)		const

Dump the configuration into a string.

Parameters

pretty	Writes a human-readable string, defaults to false
yaml	Writes YAML instead of JSON, defaults to false

◆ empty()

bool mc_rtc::Configuration::empty ( ) const

Returns true if the underlying array or underlying object is empty.

◆ end()

ConfigurationArrayIterator mc_rtc::Configuration::end ( ) const

◆ find() [1/3]

std::optional<Configuration> mc_rtc::Configuration::find ( const std::string & key ) const

Returns the Configuration entry if it exists, std::nullopt otherwise.

Parameters

key	key used to store the value

Returns: Configuration entry if it exists, std::nullopt otherwise

◆ find() [2/3]

template<typename... Args>

std::optional<Configuration> mc_rtc::Configuration::find	(	const std::string &	key,
		Args &&...	others
	)		const

inline

Return the Configuration entry at (key, others...) if it exists, std::nullopt otherwise.

This is equivalent if(auto a = cfg.find("a")) { if(auto b = cfg.find("b")) { ... } }

Parameters

key	key used to store the value
others	Keys searched one after the other

Returns: Configuration entry if it exists, std::nullopt otherwise

◆ find() [3/3]

template<typename T , typename... Args>

std::optional<T> mc_rtc::Configuration::find	(	const std::string &	key,
		Args &&...	others
	)		const

inline

Return the Configuration entry at (key, others...) if it exists, std::nullopt otherwise.

Parameters

key	key used to store the value
others	Keys searched one after the other

Template Parameters

T	Type of the entry retrieved

Exceptions

If	the key exists but the conversion to

Template Parameters

T fails

◆ fromData() [1/2]

static Configuration mc_rtc::Configuration::fromData ( const char * data )

static

Static constructor to load from JSON data (C overload)

Parameters

data	JSON data to load

◆ fromData() [2/2]

static Configuration mc_rtc::Configuration::fromData ( const std::string & data )

static

Static constructor to load from JSON data.

Parameters

data	JSON data to load

◆ fromMessagePack()

static Configuration mc_rtc::Configuration::fromMessagePack	(	const char *	data,
		size_t	size
	)

static

Static constructor to load from MessagePack data.

Parameters

data	MessagePack data to load
size	Size of data

◆ fromYAMLData() [1/2]

static Configuration mc_rtc::Configuration::fromYAMLData ( const char * data )

static

Static constructor to load from YAML data (C overload)

Parameters

data	YAML data to load

◆ fromYAMLData() [2/2]

static Configuration mc_rtc::Configuration::fromYAMLData ( const std::string & data )

static

Static constructor to load from YAML data.

Parameters

data	YAML data to load

◆ has()

bool mc_rtc::Configuration::has ( const std::string & key ) const

Check if the key is part of the conf.

Parameters

key	The key to test

Returns: True if key is part of the configuration

◆ isArray()

bool mc_rtc::Configuration::isArray ( ) const

inlinenoexcept

Returns true if the underlying value is an array.

◆ isMember()

MC_RTC_DEPRECATED bool mc_rtc::Configuration::isMember ( const std::string & key ) const

Deprecated, see has.

Parameters

key	The key to test

Returns: True if key is part of the configuration

◆ isNumeric()

bool mc_rtc::Configuration::isNumeric ( ) const

inlinenoexcept

Returns true if the underlying value is numeric.

◆ isObject()

bool mc_rtc::Configuration::isObject ( ) const

inlinenoexcept

Returns true if the underlying value is an object.

◆ isString()

bool mc_rtc::Configuration::isString ( ) const

inlinenoexcept

Returns true if the underlying value is a string.

◆ keys()

std::vector<std::string> mc_rtc::Configuration::keys ( ) const

Returns the keys of the JSON objects

Returns an empty vector if the underlying JSON object is not an object

◆ load() [1/2]

void mc_rtc::Configuration::load ( const mc_rtc::Configuration & config )

Load data from another Configuration object.

For any key existing in both objects:

(*this)(key) is overwritten for values and arrays
if config(key) and (*this)(key) are objects, config(key) is loaded into (*this)(key)
otherwise, config(key) overwrites (*this)(key)

Parameters

config The configuration object

◆ load() [2/2]

void mc_rtc::Configuration::load ( const std::string & path )

Load more data into the configuration.

For any key existing in both objects:

(*this)(key) is overwritten for values and arrays
config(key) is loaded into (*this)(key) for objects

Parameters

path	Path to the configuration file

◆ loadData()

void mc_rtc::Configuration::loadData ( const std::string & data )

Load data from a JSON string.

Same rules apply as ::load methods

Parameters

data	JSON data to load

◆ loadYAMLData()

void mc_rtc::Configuration::loadYAMLData ( const std::string & data )

Load data from a YAML string.

Same rules apply as ::load methods

Parameters

data	YAML data to load

◆ object()

Configuration mc_rtc::Configuration::object ( )

Push an empty object.

See also: push(bool);

◆ operator bool()

mc_rtc::Configuration::operator bool ( ) const

Cast to bool.

Exceptions

If	the underlying value does not hold a boolean

◆ operator double()

mc_rtc::Configuration::operator double ( ) const

Cast to double.

Will actually convert any numeric entry into a double

Exceptions

If	the underlying value does not hold a numeric value

◆ operator Eigen::Matrix3d()

mc_rtc::Configuration::operator Eigen::Matrix3d ( ) const

Retrieve as a Eigen::Matrix3d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 9

◆ operator Eigen::Matrix6d()

mc_rtc::Configuration::operator Eigen::Matrix6d ( ) const

Retrieve as a Eigen::Matrix6d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 36

◆ operator Eigen::MatrixXd()

mc_rtc::Configuration::operator Eigen::MatrixXd ( ) const

Retrieve as a Eigen::MatrixXd instance.

Exceptions

If	the underlying value does not hold an array of array of numeric values

◆ operator Eigen::Quaterniond()

mc_rtc::Configuration::operator Eigen::Quaterniond ( ) const

Retrieve as a Eigen::Quaterniond instance.

Note: The sequence is normalized

Exceptions

If	the underlying value does not hold a numeric sequence of size 4

◆ operator Eigen::Vector2d()

mc_rtc::Configuration::operator Eigen::Vector2d ( ) const

Retrieve as a Eigen::Vector2d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 2

◆ operator Eigen::Vector3d()

mc_rtc::Configuration::operator Eigen::Vector3d ( ) const

Retrieve as a Eigen::Vector3d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 3

◆ operator Eigen::Vector4d()

mc_rtc::Configuration::operator Eigen::Vector4d ( ) const

Retrieve as a Eigen::Vector4d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 4

◆ operator Eigen::Vector6d()

mc_rtc::Configuration::operator Eigen::Vector6d ( ) const

Retrieve as a Eigen::Vector6d instance.

Exceptions

If	the underlying value does not hold a numeric sequence of size 6

◆ operator Eigen::VectorXd()

mc_rtc::Configuration::operator Eigen::VectorXd ( ) const

Retrieve as a Eigen::VectorXd instance.

If the underlying value holds an empty sequence, this functions returns an empty (size 0) vector

Exceptions

If	the underlying value does not hold a numeric sequence

◆ operator int16_t()

mc_rtc::Configuration::operator int16_t ( ) const

Cast to int16_t.

Strictly for int16_t-typed entries

Exceptions

If	the underlying value does not hold an int16_t

◆ operator int32_t()

mc_rtc::Configuration::operator int32_t ( ) const

Cast to int32_t.

Strictly for int32_t-typed entries

Exceptions

If	the underlying value does not hold an int32_t

◆ operator int64_t()

mc_rtc::Configuration::operator int64_t ( ) const

Cast to int64_t.

Strictly for int64_t-typed entries

Exceptions

If	the underlying value does not hold an int64_t

◆ operator int8_t()

mc_rtc::Configuration::operator int8_t ( ) const

Cast to int8_t.

Strictly for int8_t-typed entries

Exceptions

If	the underlying value does not hold an int8_t

◆ operator mc_rbdyn::Gains2d()

mc_rtc::Configuration::operator mc_rbdyn::Gains2d ( ) const

Retrieve as a mc_rbdyn::Gains2d instance.

Exceptions

If	the underlying value is not a single double or a numeric sequence of size 2

◆ operator mc_rbdyn::Gains3d()

mc_rtc::Configuration::operator mc_rbdyn::Gains3d ( ) const

Retrieve as a mc_rbdyn::Gains3d instance.

Exceptions

If	the underlying value is not a single double or a numeric sequence of size 3

◆ operator mc_rbdyn::Gains6d()

mc_rtc::Configuration::operator mc_rbdyn::Gains6d ( ) const

Retrieve as a mc_rbdyn::Gains6d instance.

Exceptions

If	the underlying value is not a single double or a numeric sequence of size 6

◆ operator std::array< T, N >()

template<class T , std::size_t N>

mc_rtc::Configuration::operator std::array< T, N > ( ) const

inline

Retrieve an array instance.

Exceptions

If	the underlying value does not hold an array of the correct size or if any member of the array does not meet the requirements of the array elements' type.

◆ operator std::map< std::string, T, C, A >()

template<typename T , class C , class A >

mc_rtc::Configuration::operator std::map< std::string, T, C, A > ( ) const

inline

Retrieve a string-indexed map instance.

Exceptions

If	the underlying value is not an object or if the member of the object do not meet the requiremenent of the value type.

◆ operator std::optional< T >()

template<typename T >

mc_rtc::Configuration::operator std::optional< T > ( ) const

inlineexplicit

Retrieves an optional<T>

Returns nullopt if the conversion fails

◆ operator std::pair< T1, T2 >()

template<class T1 , class T2 >

mc_rtc::Configuration::operator std::pair< T1, T2 > ( ) const

inline

Retrieve a pair instance.

Exceptions

If	the underlying value does not hold an array of size 2 or if the member of the array do not meet the requirement of the pair type

◆ operator std::set< T, C, A >()

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>>

mc_rtc::Configuration::operator std::set< T, C, A > ( ) const

inline

Retrieve a set of objects.

Exceptions

If	the underlying value is not an array, if the member of the array do not meet the requirement of the set key type or if the elements in the array are not unique

◆ operator std::string()

mc_rtc::Configuration::operator std::string ( ) const

Cast to a string.

Note: You may need explicit casting in some cases, e.g. writing a = config("entry") where a is a std::string instance requires explicit casting to compile. Alternatively, in this scenario, one can use config("entry", a) without explicit casting.

Exceptions

If	the underlying value does not hold a string

◆ operator std::unordered_set< T, H, E, A >()

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>>

mc_rtc::Configuration::operator std::unordered_set< T, H, E, A > ( ) const

inline

Retrieve an unordered set of objects.

Exceptions

If	the underlying value is not an array, if the member of the array do not meet the requirement of the set key type or if the elements in the array are not unique

◆ operator std::variant< Args... >()

template<typename... Args>

mc_rtc::Configuration::operator std::variant< Args... > ( ) const

inline

Retrieve a variant object

Exceptions

If	the underlying value is not an array of size 2
If	the first value of the array is an invalid index for this variant
If	the data in the second value of the array does not allow to deserialize a value of the type given at the index

◆ operator std::vector< T, A >()

template<class T , class A >

mc_rtc::Configuration::operator std::vector< T, A > ( ) const

inline

Retrieve a vector instance.

Exceptions

If	the underlying value does not hold an array or if any member of the array does not meeting the requirement of the vector elements' type

◆ operator sva::ForceVecd()

mc_rtc::Configuration::operator sva::ForceVecd ( ) const

Retrieve as an sva::ForceVecd.

Exceptions

If	the underlying value is not an object with couple and force members

◆ operator sva::ImpedanceVecd()

mc_rtc::Configuration::operator sva::ImpedanceVecd ( ) const

Retrieve as an sva::ImpedanceVecd.

Exceptions

If	the underlying value is not an object with angular and linear members

◆ operator sva::MotionVecd()

mc_rtc::Configuration::operator sva::MotionVecd ( ) const

Retrieve as an sva::MotionVecd.

Exceptions

If	the underlying value is not an object with angular and linear members

◆ operator sva::PTransformd()

mc_rtc::Configuration::operator sva::PTransformd ( ) const

Retrieve as an sva::PTransformd.

Exceptions

If	the underlying value is not an object with rotation and/or translation members

◆ operator T() [1/2]

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>

mc_rtc::Configuration::operator T ( ) const

inline

Integral type conversions

Exceptions

If	the cast to the similar standard integral type would fail

◆ operator T() [2/2]

template<typename T , typename std::enable_if< internal::has_configuration_load_object_v< T >||internal::has_static_fromConfiguration_v< T >, int >::type = 0>

mc_rtc::Configuration::operator T ( ) const

inline

User-defined conversions.

Requires:

T mc_rtc::ConfigurationLoader<T>::load(const mc_rtc::Configuration &) should exist

◆ operator uint16_t()

mc_rtc::Configuration::operator uint16_t ( ) const

Cast to uint16_t.

Int entries that are strictly positive will be treated as uint16_t entries

Exceptions

If	the underlying value does not hold an uint16_t

◆ operator uint32_t()

mc_rtc::Configuration::operator uint32_t ( ) const

Cast to uint32_t.

Int entries that are strictly positive will be treated as uint32_t entries

Exceptions

If	the underlying value does not hold an uint32_t

◆ operator uint64_t()

mc_rtc::Configuration::operator uint64_t ( ) const

Cast to uint64_t.

Int entries that are strictly positive will be treated as uint64_t entries

Exceptions

If	the underlying value does not hold an uint64_t

◆ operator uint8_t()

mc_rtc::Configuration::operator uint8_t ( ) const

Cast to uint8_t.

Int entries that are strictly positive will be treated as uint8_t entries

Exceptions

If	the underlying value does not hold an uint8_t

◆ operator()() [1/4]

Configuration mc_rtc::Configuration::operator() ( const std::string & key ) const

Returns a Entry value stored within the configuration.

Parameters

key	The key used to store the value

Returns: The Entry value stored in the configuration in the key entry

Exceptions

If	key is not stored in the Configuration

◆ operator()() [2/4]

template<typename T >

T mc_rtc::Configuration::operator()	(	const std::string &	key,
		const T &	v
	)		const

inline

Retrieve a given value stored within the configuration with a default value.

If the key is not stored in the Configuration or if the underyling value does not match the requested type, the default value is returned.

Parameters

key	The key used to store the value
v	The default value

◆ operator()() [3/4]

template<>

void MC_RTC_UTILS_DLLAPI mc_rtc::Configuration::operator()	(	const std::string &	key,
		std::string &	v
	)		const

Specialized version to lift ambiguity.

◆ operator()() [4/4]

template<typename T >

void mc_rtc::Configuration::operator()	(	const std::string &	key,
		T &	v
	)		const

inline

Retrieve and store a given value stored within the configuration.

If they key is not stored in the Configuration, the value is unchanged.

Parameters

key	The key used to store the value
v	The value to retrieve

◆ operator==() [1/2]

bool mc_rtc::Configuration::operator== ( const char * rhs ) const

Non-template version for C-style strings comparison.

Returns: True if the comparison matches, false otherwise.

◆ operator==() [2/2]

template<typename T >

bool mc_rtc::Configuration::operator== ( const T & rhs ) const

inline

Compare stored values with given value.

Returns: True if the comparison matches, false otherwise.

◆ operator[]()

Configuration mc_rtc::Configuration::operator[] ( size_t i ) const

If the stored value is an array, return a Configuration element for the i-th element.

Parameters

i	Access i-th element

Exceptions

If	i >= size()

◆ push() [1/35]

void mc_rtc::Configuration::push ( bool value )

Insert a bool element into an array.

Parameters

value Value to add

Exceptions

If	the underlying Json value is not an array.

◆ push() [2/35]

void mc_rtc::Configuration::push ( const char * value )

Insert a const char * element into an array Behaves like push(std::string)

See also: push(bool);

◆ push() [3/35]

void mc_rtc::Configuration::push ( const Configuration & value )

Push a Configuration element into an array.

See also: push(bool);

◆ push() [4/35]

void mc_rtc::Configuration::push ( const Eigen::Matrix3d & value )

Insert a Eigen::Matrix3d element into an array.

See also: push(bool);

◆ push() [5/35]

void mc_rtc::Configuration::push ( const Eigen::Matrix6d & value )

Insert a Eigen::Matrix6d element into an array.

See also: push(bool);

◆ push() [6/35]

void mc_rtc::Configuration::push ( const Eigen::MatrixXd & value )

Insert a Eigen::MatrixXd element into an array.

See also: push(bool);

◆ push() [7/35]

void mc_rtc::Configuration::push ( const Eigen::Quaterniond & value )

Insert a Eigen::Quaterniond element into an array.

See also: push(bool);

◆ push() [8/35]

void mc_rtc::Configuration::push ( const Eigen::Vector2d & value )

Insert a Eigen::Vector2d element into an array.

See also: push(bool);

◆ push() [9/35]

void mc_rtc::Configuration::push ( const Eigen::Vector3d & value )

Insert a Eigen::Vector3d element into an array.

See also: push(bool);

◆ push() [10/35]

void mc_rtc::Configuration::push ( const Eigen::Vector4d & value )

Insert a Eigen::Vector4d element into an array.

See also: push(bool);

◆ push() [11/35]

void mc_rtc::Configuration::push ( const Eigen::Vector6d & value )

Insert a Eigen::Vector6d element into an array.

See also: push(bool);

◆ push() [12/35]

void mc_rtc::Configuration::push ( const Eigen::VectorXd & value )

Insert a Eigen::VectorXd element into an array.

See also: push(bool);

◆ push() [13/35]

template<typename T , std::size_t N, typename... Args>

void mc_rtc::Configuration::push	(	const std::array< T, N > &	value,
		Args &&...	args
	)

inline

Push an array into the JSON document.

Parameters

value Array of elements to add

◆ push() [14/35]

template<typename T , class C = std::less<std::string>, class A = std::allocator<std::pair<const std::string, T>>, typename... Args>

void mc_rtc::Configuration::push	(	const std::map< std::string, T, C, A > &	value,
		Args &&...	args
	)

inline

Push a string-indexed map into the JSON document.

Parameters

value Map of elements to add

◆ push() [15/35]

template<typename T1 , typename T2 , typename... Args>

void mc_rtc::Configuration::push	(	const std::pair< T1, T2 > &	value,
		Args &&...	args
	)

inline

Push a pair into the JSON document.

Parameters

value Pair of elements to add

◆ push() [16/35]

template<typename T , typename C = std::less<T>, typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::push	(	const std::set< T, C, A > &	value,
		Args &&...	args
	)

inline

Push a set into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Set of elements to add

◆ push() [17/35]

void mc_rtc::Configuration::push ( const std::string & value )

Insert a std::string element into an array.

See also: push(bool);

◆ push() [18/35]

template<typename T , typename H = std::hash<T>, typename E = std::equal_to<T>, typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::push	(	const std::unordered_set< T, H, E, A > &	value,
		Args &&...	args
	)

inline

Push an unordered set into the JSON document.

Overwrites existing content if any.

Parameters

key	Key of the element
value	Set of elements to add

◆ push() [19/35]

template<typename... Args>

void mc_rtc::Configuration::push ( const std::variant< Args... > & value )

inline

Push a variant object into the JSON document.

The variant is written as [value.index(), std::get<value.index()>(value)]

Exceptions

If	the variant is in valueless state

Parameters

key	Key of the element
value	Variant value to add

◆ push() [20/35]

template<typename T , typename A = std::allocator<T>, typename... Args>

void mc_rtc::Configuration::push	(	const std::vector< T, A > &	value,
		Args &&...	args
	)

inline

Push a vector into the JSON document.

Parameters

value Vector of elements to add

◆ push() [21/35]

void mc_rtc::Configuration::push ( const sva::ForceVecd & value )

Insert an sva::ForceVecd element into an array.

See also: push(bool)

◆ push() [22/35]

void mc_rtc::Configuration::push ( const sva::ImpedanceVecd & value )

Insert an sva::ImpedanceVecd element into an array.

See also: push(bool)

◆ push() [23/35]

void mc_rtc::Configuration::push ( const sva::MotionVecd & value )

Insert an sva::MotionVecd element into an array.

See also: push(bool)

◆ push() [24/35]

void mc_rtc::Configuration::push ( const sva::PTransformd & value )

Insert an sva::PTransformd element into an array.

See also: push(bool)

◆ push() [25/35]

template<typename T , typename std::enable_if< internal::is_integral_v< T >, int >::type = 0>

void mc_rtc::Configuration::push ( const T & value )

inline

Integral type conversions

Parameters

value Value to push

◆ push() [26/35]

template<typename T , typename... Args, typename std::enable_if< internal::has_configuration_save_object_v< T, Args... >||internal::has_toConfiguration_method_v< T, Args... >, int >::type = 0>

void mc_rtc::Configuration::push	(	const T &	value,
		Args &&...	args
	)

inline

User-defined conversion.

Requires the existence of: mc_rtc::Configuration mc_rtc::ConfigurationLoader<T>::save(const T&, Args ...);

Parameters

value Value to push

◆ push() [27/35]

void mc_rtc::Configuration::push ( double value )

Insert a double element into an array.

See also: push(bool);

◆ push() [28/35]

void mc_rtc::Configuration::push ( int16_t value )

Insert a int16_t element int16_to an array.

See also: push(bool);

◆ push() [29/35]

void mc_rtc::Configuration::push ( int32_t value )

Insert a int32_t element int32_to an array.

See also: push(bool);

◆ push() [30/35]

void mc_rtc::Configuration::push ( int64_t value )

Insert a int64_t element int64_to an array.

See also: push(bool);

◆ push() [31/35]

void mc_rtc::Configuration::push ( int8_t value )

Insert a int8_t element int8_to an array.

See also: push(bool);

◆ push() [32/35]

void mc_rtc::Configuration::push ( uint16_t value )

Insert a uint16_t element into an array.

See also: push(bool);

◆ push() [33/35]

void mc_rtc::Configuration::push ( uint32_t value )

Insert a uint32_t element into an array.

See also: push(bool);

◆ push() [34/35]

void mc_rtc::Configuration::push ( uint64_t value )

Insert a uint64_t element into an array.

See also: push(bool);

◆ push() [35/35]

void mc_rtc::Configuration::push ( uint8_t value )

Insert a uint8_t element into an array.

See also: push(bool);

◆ push_null()

void mc_rtc::Configuration::push_null ( )

Insert a null value into an array.

Exceptions

If	the underlying Json value is not an array.

◆ remove()

bool mc_rtc::Configuration::remove ( const std::string & key )

Remove a given element

Has no effect if the element is not present.

Parameters

key	Element to remove

Returns: True if the element was removed, false otherwise.

◆ rootArray()

static Configuration mc_rtc::Configuration::rootArray ( )

static

Returns a Configuration with an array as root entry.

This is not valid standard JSON

◆ save()

void mc_rtc::Configuration::save	(	const std::string &	path,
		bool	pretty = `true`
	)		const

Save the configuration to a file.

If the path extension is yaml or yml then save in YAML format

Parameters

path	Path to the configuration file
pretty	Writes a human-readable file, defaults to true

◆ size()

size_t mc_rtc::Configuration::size ( ) const

If the stored value is an array, returns its size, otherwise returns 0.

Returns: Size of the underlying array

◆ toMessagePack() [1/2]

void mc_rtc::Configuration::toMessagePack ( MessagePackBuilder & builder ) const

Append to an existing MessagePackBuilder.

The whole configuration will be stored in the MessagePack being built

Parameters

builder MessagePackBuilder instance

◆ toMessagePack() [2/2]

size_t mc_rtc::Configuration::toMessagePack ( std::vector< char > & data ) const

Convert to MessagePack.

Parameters

data	Will hold the message data

Returns: The size of the message, this is different from data.size()

The documentation for this struct was generated from the following file:

include/mc_rtc/Configuration.h

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Configuration() [1/3]

◆ Configuration() [2/3]

◆ Configuration() [3/3]

Member Function Documentation

◆ add() [1/36]

◆ add() [2/36]

◆ add() [3/36]

◆ add() [4/36]

◆ add() [5/36]

◆ add() [6/36]

◆ add() [7/36]

◆ add() [8/36]

◆ add() [9/36]

◆ add() [10/36]

◆ add() [11/36]

◆ add() [12/36]

◆ add() [13/36]

◆ add() [14/36]

◆ add() [15/36]

◆ add() [16/36]

◆ add() [17/36]

◆ add() [18/36]

◆ add() [19/36]

◆ add() [20/36]

◆ add() [21/36]

◆ add() [22/36]

◆ add() [23/36]

◆ add() [24/36]

◆ add() [25/36]

◆ add() [26/36]

◆ add() [27/36]

◆ add() [28/36]

◆ add() [29/36]

◆ add() [30/36]

◆ add() [31/36]

◆ add() [32/36]

◆ add() [33/36]

◆ add() [34/36]

◆ add() [35/36]

◆ add() [36/36]

◆ add_null()

◆ array() [1/2]

◆ array() [2/2]

◆ at()

◆ begin()

◆ dump()

◆ empty()

◆ end()

◆ find() [1/3]

◆ find() [2/3]

◆ find() [3/3]

◆ fromData() [1/2]

◆ fromData() [2/2]

◆ fromMessagePack()

◆ fromYAMLData() [1/2]

◆ fromYAMLData() [2/2]

◆ has()

◆ isArray()

◆ isMember()

◆ isNumeric()

◆ isObject()

◆ isString()

◆ keys()

◆ load() [1/2]

◆ load() [2/2]

◆ loadData()

◆ loadYAMLData()

◆ object()

◆ operator bool()

◆ operator double()

◆ operator Eigen::Matrix3d()

◆ operator Eigen::Matrix6d()

◆ operator Eigen::MatrixXd()

◆ operator Eigen::Quaterniond()

◆ operator Eigen::Vector2d()