InfoFileParser.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <iostream>

#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/info_parser.hpp>


namespace ct {
namespace core {

template <typename SCALAR>
void loadScalar(const std::string& filename, const std::string& scalarName, SCALAR& scalar, const std::string& ns = "")
{
    boost::property_tree::ptree pt;
    boost::property_tree::read_info(filename, pt);

    scalar = pt.get<SCALAR>(ns + scalarName);
}

template <typename SCALAR>
void loadScalarOptional(const std::string& filename,
    const std::string& scalarName,
    SCALAR& scalar,
    const SCALAR& defaultValue,
    const std::string& ns = "")
{
    boost::property_tree::ptree pt;
    boost::property_tree::read_info(filename, pt);

    scalar = pt.get<SCALAR>(ns + scalarName, defaultValue);
}

template <typename SCALAR, int ROW, int COL>
void loadMatrix(const std::string& filename,
    const std::string& matrixName,
    Eigen::Matrix<SCALAR, ROW, COL>& matrix,
    const std::string& ns = "")
{
    size_t rows = matrix.rows();
    size_t cols = matrix.cols();

    boost::property_tree::ptree pt;
    boost::property_tree::read_info(filename, pt);

    double scaling = pt.get<double>(ns + matrixName + ".scaling", 1);

    for (size_t i = 0; i < rows; i++)
    {
        for (size_t j = 0; j < cols; j++)
        {
            matrix(i, j) =
                scaling *
                pt.get<double>(ns + matrixName + "." + "(" + std::to_string(i) + "," + std::to_string(j) + ")", 0.0);
        }
    }
}
}
}