.. _program_listing_file_include_reach_plugin_utils.h:

Program Listing for File plugin_utils.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_reach_plugin_utils.h>` (``include/reach/plugin_utils.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef reach_PLUGIN_UTILS_H
   #define reach_PLUGIN_UTILS_H
   
   #include <yaml-cpp/yaml.h>
   #include <boost/core/demangle.hpp>
   #include <Eigen/Geometry>
   
   namespace reach
   {
   template <typename T>
   T get(const YAML::Node& config, const std::string& key)
   {
     if (!config[key].IsDefined())
     {
       std::stringstream ss;
       ss << "Failed to get '" << key << "' parameter within node at line " << config.Mark().line;
       throw std::runtime_error(ss.str());
     }
   
     try
     {
       return config[key].as<T>();
     }
     catch (const YAML::Exception& ex)
     {
       std::stringstream ss;
       ss << "Failed to cast '" << key << "' parameter with value '" << config[key] << "' to expected type '"
          << boost::core::demangle(typeid(T).name()) << "' (line " << ex.mark.line << ")";
       throw std::runtime_error(ss.str());
     }
   }
   
   std::string resolveURI(const std::string filename);
   
   Eigen::Isometry3d createFrame(const Eigen::Vector3f& pt, const Eigen::Vector3f& norm);
   
   }  // namespace reach
   
   #include <boost_plugin_loader/macros.h>
   #define EXPORT_DISPLAY_PLUGIN(DERIVED_CLASS, ALIAS) EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, DISPLAY_SECTION)
   #define EXPORT_EVALUATOR_PLUGIN(DERIVED_CLASS, ALIAS) EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, EVALUATOR_SECTION)
   #define EXPORT_IK_SOLVER_PLUGIN(DERIVED_CLASS, ALIAS) EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, IK_SOLVER_SECTION)
   #define EXPORT_LOGGER_PLUGIN(DERIVED_CLASS, ALIAS) EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, LOGGER_SECTION)
   #define EXPORT_TARGET_POSE_GENERATOR_PLUGIN(DERIVED_CLASS, ALIAS)                                                      \
     EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, TARGET_POSE_GEN_SECTION)
   
   #endif  // reach_PLUGIN_UTILS_H