读取#@brief: gerneral config parameters general: use_ros: true #@type: bool @detail: flag to control using ROS functions or not # if ture, you can send or receive messages through ROS (different messages need to be config in their own yaml file separatedly) use_proto: true #@type: bool @detail: flag to control using Proto functions or not # if ture, you can send or receive sensor: #@brief: config file for Imu message imu: include: ../sensor_config/other_sensors/rs_imu.yaml #@brief: config file for Gnss message gnss: include: ../sensor_config/other_sensors/rs_gnss.yaml #@brief: config file for Odom message odom: include: ../sensor_config/other_sensors/rs_odom.yaml #@brief: config file for Lidar message lidar: include: ../sensor_config/lidar/rs_lidar.yaml #@brief: config file for Lidar message camera: include: ../sensor_config/other_sensors/rs_camera.yaml #@brief: config file for Radar message radar: include: ../sensor_config/other_sensors/rs_radar.yaml
时间: 2024-02-14 12:29:16 浏览: 124
要读取上述YAML文件,可以使用适合的YAML解析库,例如YAML-CPP或YAMLCPP-Parser。以下是使用YAML-CPP的示例代码:
```cpp
#include <iostream>
#include <yaml-cpp/yaml.h>
void readConfig(const YAML::Node& config) {
if (config["general"]) {
// 读取general字段的值
YAML::Node general = config["general"];
if (general["use_ros"]) {
bool useRos = general["use_ros"].as<bool>();
std::cout << "use_ros: " << std::boolalpha << useRos << std::endl;
}
if (general["use_proto"]) {
bool useProto = general["use_proto"].as<bool>();
std::cout << "use_proto: " << std::boolalpha << useProto << std::endl;
}
}
if (config["sensor"]) {
// 读取sensor字段的值
YAML::Node sensor = config["sensor"];
if (sensor["imu"]) {
std::string imuInclude = sensor["imu"]["include"].as<std::string>();
std::cout << "imu include: " << imuInclude << std::endl;
}
if (sensor["gnss"]) {
std::string gnssInclude = sensor["gnss"]["include"].as<std::string>();
std::cout << "gnss include: " << gnssInclude << std::endl;
}
if (sensor["odom"]) {
std::string odomInclude = sensor["odom"]["include"].as<std::string>();
std::cout << "odom include: " << odomInclude << std::endl;
}
if (sensor["lidar"]) {
std::string lidarInclude = sensor["lidar"]["include"].as<std::string>();
std::cout << "lidar include: " << lidarInclude << std::endl;
}
if (sensor["camera"]) {
std::string cameraInclude = sensor["camera"]["include"].as<std::string>();
std::cout << "camera include: " << cameraInclude << std::endl;
}
if (sensor["radar"]) {
std::string radarInclude = sensor["radar"]["include"].as<std::string>();
std::cout << "radar include: " << radarInclude << std::endl;
}
}
}
int main() {
// 加载YAML文件
YAML::Node config = YAML::LoadFile("config.yaml");
// 读取配置
readConfig(config);
return 0;
}
```
请确保将上述示例代码与YAML-CPP库一起编译、链接并运行。从YAML文件中读取的值将打印到控制台上。
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