cartographer/cartographer/common/configuration_file_resolver.h

50 lines
1.8 KiB
C++

/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_COMMON_CONFIGURATION_FILE_RESOLVER_H_
#define CARTOGRAPHER_COMMON_CONFIGURATION_FILE_RESOLVER_H_
#include <vector>
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h"
namespace cartographer {
namespace common {
// A 'FileResolver' for the 'LuaParameterDictionary' that reads files from disk.
// It searches the 'configuration_files_directories' in order to find the
// requested filename. The last place searched is always the
// 'configuration_files/' directory installed with Cartographer. It contains
// reasonable configuration for the various Cartographer components which
// provide a good starting ground for new platforms.
class ConfigurationFileResolver : public FileResolver {
public:
explicit ConfigurationFileResolver(
const std::vector<std::string>& configuration_files_directories);
std::string GetFullPathOrDie(const std::string& basename) override;
std::string GetFileContentOrDie(const std::string& basename) override;
private:
std::vector<std::string> configuration_files_directories_;
};
} // namespace common
} // namespace cartographer
#endif // CARTOGRAPHER_COMMON_CONFIGURATION_FILE_RESOLVER_H_