Merge pull request #84 from eurogroep/feat/use_parameter_defaults

Enable the use of a default for parameters

Author: jonbinney

include/filters/filter_base.hpp

@@ -156,41 +156,53 @@ class FilterBase
    * \brief Get a filter parameter as a string
    * \param name The name of the parameter
    * \param value The string to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, std::string & value)
+  bool getParam(
+    const std::string & name, std::string & value,
+    std::string default_value = std::string())
   {
     return getParamImpl(
-      name, rcl_interfaces::msg::ParameterType::PARAMETER_STRING, std::string(), value);
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_STRING, default_value, value);
   }
 
   /**
    * \brief Get a filter parameter as a boolean
    * \param name The name of the parameter
    * \param value The boolean to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, bool & value)
+  bool getParam(const std::string & name, bool & value, bool default_value = false)
   {
-    return getParamImpl(name, rcl_interfaces::msg::ParameterType::PARAMETER_BOOL, false, value);
+    return getParamImpl(
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_BOOL, default_value,
+      value);
   }
 
   /**
    * \brief Get a filter parameter as a double
    * \param name The name of the parameter
    * \param value The double to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, double & value)
+  bool getParam(const std::string & name, double & value, double default_value = 0.0)
   {
-    return getParamImpl(name, rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE, 0.0, value);
+    return getParamImpl(
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE, default_value,
+      value);
   }
 
   /**
    * \brief Get a filter parameter as a int
    * \param name The name of the parameter
    * \param value The int to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, int & value)
+  bool getParam(const std::string & name, int & value, int default_value = 0)
   {
-    return getParamImpl(name, rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, 0, value);
+    return getParamImpl(
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, default_value,
+      value);
   }
 
   /**
@@ -233,22 +245,28 @@ class FilterBase
    * \brief Get a filter parameter as a std::vector<double>
    * \param name The name of the parameter
    * \param value The std::vector<double> to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, std::vector<double> & value)
+  bool getParam(
+    const std::string & name, std::vector<double> & value,
+    std::vector<double> default_value = {})
   {
     return getParamImpl(
-      name, rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY, {}, value);
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY, default_value, value);
   }
 
   /**
    * \brief Get a filter parameter as a std::vector<string>
    * \param name The name of the parameter
    * \param value The std::vector<sgring> to set with the value
+   * \param default_value The default value to use if the parameter is not set
    * \return Whether or not the parameter of name/type was set */
-  bool getParam(const std::string & name, std::vector<std::string> & value)
+  bool getParam(
+    const std::string & name, std::vector<std::string> & value,
+    std::vector<std::string> default_value = {})
   {
     return getParamImpl(
-      name, rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY, {}, value);
+      name, rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY, default_value, value);
   }
 
   /// The name of the filter