parameter_descriptor_builder.hpp

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/* Author    : Tyler Weaver
   Desc      : Creates a parameter descriptor message used to describe parameters
   Title     : parameter_descriptor_builder.hpp
   Project   : moveit_servo
*/
 
// TODO(823): Move this into a separate message_builder package
 
#pragma once
 
#include <rcl_interfaces/msg/floating_point_range.hpp>
#include <rcl_interfaces/msg/integer_range.hpp>
#include <rcl_interfaces/msg/parameter_descriptor.hpp>
#include <rcl_interfaces/msg/parameter_type.hpp>
#include <limits>
#include <string>
 
namespace moveit_servo
{
class ParameterDescriptorBuilder
{
  rcl_interfaces::msg::ParameterDescriptor msg_;
 
public:
  operator rcl_interfaces::msg::ParameterDescriptor() const
  {
    return msg_;
  }
 
  ParameterDescriptorBuilder& type(uint8_t type);
 
  ParameterDescriptorBuilder& description(const std::string& description);
 
  ParameterDescriptorBuilder& additionalConstraints(const std::string& additional_constraints);
 
  ParameterDescriptorBuilder& readOnly(bool read_only);
 
  ParameterDescriptorBuilder& dynamicTyping(bool dynamic_typing);
 
  ParameterDescriptorBuilder& floatingPointRange(double from_value = std::numeric_limits<double>::min(),
                                                 double to_value = std::numeric_limits<double>::max(), double step = 0);
 
  ParameterDescriptorBuilder& integerRange(int64_t from_value = std::numeric_limits<int64_t>::min(),
                                           int64_t to_value = std::numeric_limits<int64_t>::max(), int64_t step = 0);
};
 
}  // namespace moveit_servo