50 lines
1.8 KiB
C++
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_
|