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Add an abstract base to parameters #35
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Travis complains about permission... |
Added doc & tutorial (cbandera/rosparam_handler_tutorial#3), fixed some warnings. |
Closing in favor of #37 |
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This pull request adds an abstract base to generated parameter classes enabling their use through a parameter base pointer.
Please consider the following example :
This PR does not change the default behavior while allowing one to use a unique
rosparam_handler::ParameterPtr
in a base class and instantiate it to a different parameter type. All functions remain available through the base pointer.The main drawback here is that to access the actual members of the instantiated object one has to cast the pointer to the appropriate type (either statically or dynamically). We could assume that if someone uses this scheme is surely knows what he is doing.
All former tests are passing and a I added one for this new scheme.
Their is also a test-case demonstrating how to test
dynamic_reconfigure
callback withrosparam_handler
.Please consider this PR as Work In Progress until I add some documentation and a test for
dynamic_reconfigure
with a plain parameter object (not passing by a base pointer).Looking forward to feedback .