update

src/node_handle.cpp

@@ -651,7 +651,8 @@ namespace robot
           std::string key = it->first.as<std::string>();
           const YAML::Node &value = it->second;
           std::string full_key = prefix.empty() ? key : prefix + "/" + key;
-
+          if(full_key.find("MKTAlgorithmDiffPredictiveTrajectory") == std::string::npos)
+            continue;
           if (value.IsMap())
           {
             std::cout << "[NodeHandle] " << indent << full_key << ":" << std::endl;
@@ -1727,6 +1728,87 @@ namespace robot
     return true;
   }
 
+  namespace
+  {
+    bool yamlToXmlRpc(const YAML::Node &y, robot_xmlrpcpp::XmlRpcValue &out)
+    {
+      if (!y.IsDefined())
+        return false;
+      if (y.IsScalar())
+      {
+        try
+        {
+          std::string s = y.as<std::string>();
+          std::string lower = s;
+          std::transform(lower.begin(), lower.end(), lower.begin(), ::tolower);
+          if (lower == "true" || lower == "1" || lower == "yes" || lower == "on")
+          {
+            out = robot_xmlrpcpp::XmlRpcValue(true);
+            return true;
+          }
+          if (lower == "false" || lower == "0" || lower == "no" || lower == "off")
+          {
+            out = robot_xmlrpcpp::XmlRpcValue(false);
+            return true;
+          }
+          try
+          {
+            int i = y.as<int>();
+            out = robot_xmlrpcpp::XmlRpcValue(i);
+            return true;
+          }
+          catch (...) {}
+          try
+          {
+            double d = y.as<double>();
+            out = robot_xmlrpcpp::XmlRpcValue(d);
+            return true;
+          }
+          catch (...) {}
+          out = robot_xmlrpcpp::XmlRpcValue(s);
+          return true;
+        }
+        catch (...)
+        {
+          return false;
+        }
+      }
+      if (y.IsSequence())
+      {
+        out = robot_xmlrpcpp::XmlRpcValue();
+        out.setSize(static_cast<int>(y.size()));
+        for (size_t i = 0; i < y.size(); ++i)
+        {
+          robot_xmlrpcpp::XmlRpcValue item;
+          if (yamlToXmlRpc(y[i], item))
+            out[static_cast<int>(i)] = item;
+        }
+        return true;
+      }
+      if (y.IsMap())
+      {
+        out = robot_xmlrpcpp::XmlRpcValue();
+        for (YAML::const_iterator it = y.begin(); it != y.end(); ++it)
+        {
+          std::string k = it->first.as<std::string>();
+          robot_xmlrpcpp::XmlRpcValue item;
+          if (yamlToXmlRpc(it->second, item))
+            out[k] = item;
+        }
+        return true;
+      }
+      return false;
+    }
+  }
+
+  bool NodeHandle::getParam(const std::string &key, robot_xmlrpcpp::XmlRpcValue &v) const
+  {
+    YAML::Node value = getNestedValue(key);
+    if (!value.IsDefined())
+      return false;
+    return yamlToXmlRpc(value, v);
+  }
+
   template <typename T>
   T NodeHandle::param(const std::string &param_name) const
   {