text: /*********************************************************************
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2011, Willow Garage
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
  *  are met:
  *
  *   * Redistributions of source code must retain the above copyright
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #include "ompl/base/GenericParam.h"
  #include "ompl/util/Exception.h"
  
  const std::string &ompl::base::GenericParam::truthValueTo01Str(const std::string &value)
  {
      static const std::string falseValue = "0";
      static const std::string trueValue = "1";
      return (value.empty() || value == falseValue || value == "false" || value == "FALSE" || value == "False" ||
              value == "f" || value == "F") ?
                 falseValue :
                 trueValue;
  }
  
  bool ompl::base::ParamSet::setParam(const std::string &key, const std::string &value)
  {
      std::map<std::string, GenericParamPtr>::const_iterator it = params_.find(key);
      if (it != params_.end())
          return it->second->setValue(value);
      else
      {
          OMPL_ERROR("Parameter '%s' was not found", key.c_str());
          return false;
      }
  }
  
  bool ompl::base::ParamSet::setParams(const std::map<std::string, std::string> &kv, bool ignoreUnknown)
  {
      bool result = true;
      for (const auto &it : kv)
      {
          if (ignoreUnknown)
              if (!hasParam(it.first))
                  continue;
          bool r = setParam(it.first, it.second);
          result = result && r;
      }
      return result;
  }
  
  bool ompl::base::ParamSet::getParam(const std::string &key, std::string &value) const
  {
      auto it = params_.find(key);
      if (it != params_.end())
      {
          value = it->second->getValue();
          return true;
      }
      return false;
  }
  
  void ompl::base::ParamSet::getParamNames(std::vector<std::string> &params) const
  {
      params.clear();
      params.reserve(params_.size());
      for (const auto &param : params_)
          params.push_back(param.first);
  }
  
  void ompl::base::ParamSet::getParamValues(std::vector<std::string> &vals) const
  {
      std::vector<std::string> names;
      getParamNames(names);
      vals.resize(names.size());
      for (std::size_t i = 0; i < names.size(); ++i)
          vals[i] = params_.find(names[i])->second->getValue();
  }
  
  const std::map<std::string, ompl::base::GenericParamPtr> &ompl::base::ParamSet::getParams() const
  {
      return params_;
  }
  
  const ompl::base::GenericParamPtr &ompl::base::ParamSet::getParam(const std::string &key) const
  {
      static GenericParamPtr empty;
      auto it = params_.find(key);
      if (it != params_.end())
          return it->second;
      else
          return empty;
  }
  
  void ompl::base::ParamSet::getParams(std::map<std::string, std::string> &params) const
  {
      for (const auto &param : params_)
          params[param.first] = param.second->getValue();
  }
  
  bool ompl::base::ParamSet::hasParam(const std::string &key) const
  {
      return params_.find(key) != params_.end();
  }
  
  ompl::base::GenericParam &ompl::base::ParamSet::operator[](const std::string &key)
  {
      if (!hasParam(key))
          throw Exception("Parameter '%s' is not defined", key.c_str());
      return *getParam(key);
  }
  
  void ompl::base::ParamSet::include(const ParamSet &other, const std::string &prefix)
  {
      const std::map<std::string, GenericParamPtr> &p = other.getParams();
      if (prefix.empty())
          for (const auto &it : p)
              params_[it.first] = it.second;
      else
          for (const auto &it : p)
              params_[prefix + "." + it.first] = it.second;
  }
  
  void ompl::base::ParamSet::add(const GenericParamPtr &param)
  {
      params_[param->getName()] = param;
  }
  
  void ompl::base::ParamSet::remove(const std::string &name)
  {
      params_.erase(name);
  }
  
  void ompl::base::ParamSet::clear()
  {
      params_.clear();
  }
  
  void ompl::base::ParamSet::print(std::ostream &out) const
  {
      for (const auto &param : params_)
          out << param.first << " = " << param.second->getValue() << std::endl;
  }
  