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| cmake_minimum_required(VERSION 2.8.12) | ||
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| set(CMAKE_VERBOSE_MAKEFILE ON) | ||
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| project(ariles2_catkin_demo) | ||
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| find_package(catkin REQUIRED | ||
| ariles2_core_ws | ||
| ariles2_rosparam_ws | ||
| ariles2_rapidjson_ws | ||
| ariles2_yamlcpp_ws | ||
| ariles2_octave_ws | ||
| ariles2_pugixml_ws | ||
| ) | ||
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| catkin_package(DEPENDS | ||
| ariles2_core_ws | ||
| ariles2_rosparam_ws | ||
| ariles2_rapidjson_ws | ||
| ariles2_yamlcpp_ws | ||
| ariles2_octave_ws | ||
| ariles2_pugixml_ws | ||
| ) | ||
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| include_directories( | ||
| include | ||
| SYSTEM ${catkin_INCLUDE_DIRS} | ||
| ) | ||
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| add_executable(demo demo.cpp) | ||
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| target_link_libraries(demo ${catkin_LIBRARIES}) | ||
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| install(TARGETS demo | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,22 @@ | ||
| cmake_minimum_required(VERSION 2.8.12) | ||
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| set(CMAKE_VERBOSE_MAKEFILE ON) | ||
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| project(ariles2_plain_demo) | ||
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| find_package(ariles2-core REQUIRED) | ||
| find_package(ariles2-rapidjson REQUIRED) | ||
| find_package(ariles2-yaml-cpp REQUIRED) | ||
| find_package(ariles2-octave REQUIRED) | ||
| find_package(ariles2-pugixml REQUIRED) | ||
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| add_executable(demo demo.cpp) | ||
| target_link_libraries(demo | ||
| ariles2::core | ||
| ariles2::rapidjson | ||
| ariles2::yaml-cpp | ||
| ariles2::octave | ||
| ariles2::pugixml | ||
| ) |
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| /** | ||
| @file | ||
| @author Alexander Sherikov | ||
| @copyright 2018 Alexander Sherikov, Licensed under the Apache License, Version 2.0. | ||
| (see @ref LICENSE or http://www.apache.org/licenses/LICENSE-2.0) | ||
| @brief | ||
| */ | ||
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| // ============================================================================ | ||
| // HEADER INCLUSION | ||
| // ============================================================================ | ||
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| // `visitor` is an Ariles component which provides integration with a particular | ||
| // 3rd party library. | ||
| #include <ariles2/visitors/yaml_cpp.h> | ||
| #include <ariles2/visitors/octave.h> | ||
| #include <ariles2/visitors/pugixml.h> | ||
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| // `adapter` is an Ariles component which adds support for serialization of | ||
| // certain type(s), e.g. Eigen types or Boost pointers. | ||
| #include <ariles2/adapters/basic.h> | ||
| #include <ariles2/adapters/eigen.h> | ||
| #include <ariles2/adapters/std_vector.h> | ||
| #include <ariles2/ariles.h> | ||
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| // =============================================================== | ||
| // DEFINING TYPES | ||
| // =============================================================== | ||
| namespace demo | ||
| { | ||
| class ArilesBaseClass | ||
| // must inherit from ariles2::DefaultBase | ||
| : public ariles2::DefaultBase | ||
| { | ||
| // Declare entries, in this case two numbers | ||
| #define ARILES2_ENTRIES(v) \ | ||
| ARILES2_TYPED_ENTRY(v, real_member, double) \ | ||
| ARILES2_TYPED_ENTRY_(v, integer_member, int) | ||
| // underscore ^ indicates that the name of the entry must be | ||
| // 'integer_member_' instead of 'integer_member', this is useful if your | ||
| // naming convention requires trailing underscores for member variables. | ||
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| // Initialize ariles | ||
| #include ARILES2_INITIALIZE | ||
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| public: | ||
| virtual ~ArilesBaseClass(){}; // added to suppress compiler warnings | ||
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| // This method is called every time you deserialize a class. If | ||
| // omitted, the default automatically generated method is used. | ||
| void arilesVisit(const ariles2::Defaults & /*visitor*/, const ariles2::Defaults::Parameters & /*param*/) | ||
| { | ||
| real_member = 0.0; | ||
| integer_member_ = 12; | ||
| } | ||
| }; | ||
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| class NonArilesBaseClass | ||
| { | ||
| public: | ||
| // Eigen types are supported too, see below | ||
| Eigen::Vector3d eigen_vector_; | ||
| }; | ||
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| class MyClass : public ArilesBaseClass, // no need to inherit from ConfigurableBase directly. | ||
| public NonArilesBaseClass | ||
| { | ||
| // Declare entries, in this case we indicate inheritance from another | ||
| // Ariles class (ArilesBaseClass) and a member from a non-Ariles class | ||
| // (NonArilesBaseClass) | ||
| #define ARILES2_ENTRIES(v) \ | ||
| ARILES2_PARENT(v, ArilesBaseClass) \ | ||
| ARILES2_ENTRY_(v, eigen_vector) | ||
| // In this case ^ Ariles should not declare the inherited | ||
| // member, therefore we use 'ARILES2_ENTRY_' instead of 'ARILES2_TYPED_ENTRY_'. | ||
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| #include ARILES2_INITIALIZE | ||
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| public: | ||
| virtual ~MyClass(){}; // added to suppress compiler warnings | ||
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| void arilesVisit(const ariles2::Defaults &visitor, const ariles2::Defaults::Parameters ¶m) | ||
| { | ||
| // If you use your own method to initialize member variables, | ||
| // it is up to you to properly initialize all entries and | ||
| // parent classes. | ||
| // all parents at once | ||
| arilesVisitParents(visitor, param); | ||
| // or one by one (either option is sufficient) | ||
| ArilesBaseClass::arilesVisit(visitor, param); | ||
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| // custom default values for some members | ||
| real_member = 100.0; | ||
| eigen_vector_.setZero(); | ||
| } | ||
| }; | ||
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| class MyContainerClass : public ariles2::DefaultBase | ||
| { | ||
| // Some of the standard containers can be used with Ariles types. | ||
| #define ARILES2_ENTRIES(v) ARILES2_TYPED_ENTRY_(v, my_class_vector, std::vector<MyClass>) | ||
| #include ARILES2_INITIALIZE | ||
| }; | ||
| } // namespace demo | ||
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| // =============================================================== | ||
| // SERIALIZATION & DESERIALIZATION | ||
| // =============================================================== | ||
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| #include <iostream> // std::cout | ||
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| int main() | ||
| { | ||
| demo::MyContainerClass my_container_class; | ||
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| // access members as usual | ||
| my_container_class.my_class_vector_.size(); | ||
| my_container_class.my_class_vector_.push_back(demo::MyClass()); | ||
| ariles2::apply<ariles2::Defaults>(my_container_class.my_class_vector_[0]); | ||
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| // YAML | ||
| /* | ||
| * When you serialize `my_container_class` to YAML you get the following: | ||
| * ----- | ||
| MyContainerClass: | ||
| my_class_vector: | ||
| - real_member: 100 | ||
| integer_member: 12 | ||
| eigen_vector: [0, 0, 0] | ||
| * ----- | ||
| * Note that the trailing underscores are omitted for all members. This | ||
| * applies to all supported representations. | ||
| */ | ||
| { | ||
| // You can read and write YAML configuration files as follows: | ||
| ariles2::apply<ariles2::yaml_cpp::Writer>("config.yaml", my_container_class); | ||
| ariles2::apply<ariles2::yaml_cpp::Reader>("config.yaml", my_container_class); | ||
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| // Sometimes it may be useful to dump configuration to std::cout | ||
| ariles2::apply<ariles2::yaml_cpp::Writer>(std::cout, my_container_class); | ||
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| // In some situations it is more convenient to instantiate Reader and | ||
| // Writer classes explicitly, e.g., if you keep configurations of several | ||
| // classes in the same file | ||
| ariles2::yaml_cpp::Writer writer("config.yaml"); | ||
| ariles2::apply(writer, my_container_class); | ||
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| ariles2::yaml_cpp::Reader reader("config.yaml"); | ||
| ariles2::apply(reader, my_container_class); | ||
| } | ||
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| // Octave | ||
| { | ||
| // Octave visitor supports only writing | ||
| ariles2::apply<ariles2::octave::Writer>("debug.m", my_container_class); | ||
| // the generated file can later be loaded in Octave with | ||
| // 'source debug.m' for debugging | ||
| } | ||
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| return (0); | ||
| } |
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