rclcpp  master
C++ ROS Client Library API
node_parameters_interface.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
17 
18 #include <string>
19 #include <vector>
20 
21 #include "rcl_interfaces/msg/list_parameters_result.hpp"
22 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
23 #include "rcl_interfaces/msg/set_parameters_result.hpp"
24 
25 #include "rclcpp/macros.hpp"
26 #include "rclcpp/parameter.hpp"
28 
29 namespace rclcpp
30 {
31 namespace node_interfaces
32 {
33 
36 {
37 public:
39 
41  virtual
42  std::vector<rcl_interfaces::msg::SetParametersResult>
44  const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
45 
47  virtual
48  rcl_interfaces::msg::SetParametersResult
50  const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
51 
53  virtual
54  std::vector<rclcpp::parameter::ParameterVariant>
55  get_parameters(const std::vector<std::string> & names) const = 0;
56 
58  virtual
60  get_parameter(const std::string & name) const = 0;
61 
63  virtual
64  bool
66  const std::string & name,
67  rclcpp::parameter::ParameterVariant & parameter) const = 0;
68 
70  virtual
71  std::vector<rcl_interfaces::msg::ParameterDescriptor>
72  describe_parameters(const std::vector<std::string> & names) const = 0;
73 
75  virtual
76  std::vector<uint8_t>
77  get_parameter_types(const std::vector<std::string> & names) const = 0;
78 
80  virtual
81  rcl_interfaces::msg::ListParametersResult
82  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
83 
85  std::function<rcl_interfaces::msg::SetParametersResult(
86  const std::vector<rclcpp::parameter::ParameterVariant> &)>;
87 
89  virtual
90  void
92 };
93 
94 } // namespace node_interfaces
95 } // namespace rclcpp
96 
97 #endif // RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
virtual std::vector< rcl_interfaces::msg::ParameterDescriptor > describe_parameters(const std::vector< std::string > &names) const =0
virtual std::vector< rcl_interfaces::msg::SetParametersResult > set_parameters(const std::vector< rclcpp::parameter::ParameterVariant > &parameters)=0
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
Definition: allocator_common.hpp:24
std::function< rcl_interfaces::msg::SetParametersResult(const std::vector< rclcpp::parameter::ParameterVariant > &)> ParametersCallbackFunction
Definition: node_parameters_interface.hpp:86
virtual rclcpp::parameter::ParameterVariant get_parameter(const std::string &name) const =0
virtual void register_param_change_callback(ParametersCallbackFunction callback)=0
virtual std::vector< rclcpp::parameter::ParameterVariant > get_parameters(const std::vector< std::string > &names) const =0
virtual rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector< std::string > &prefixes, uint64_t depth) const =0
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Definition: parameter.hpp:45
Pure virtual interface class for the NodeParameters part of the Node API.
Definition: node_parameters_interface.hpp:35
virtual std::vector< uint8_t > get_parameter_types(const std::vector< std::string > &names) const =0
virtual rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector< rclcpp::parameter::ParameterVariant > &parameters)=0