Clean up Parser YAML

include/core/yaml/parser_yaml.hpp

@@ -193,7 +193,6 @@ class ParserYAML {
     std::vector<ParamsInitProcessor> _paramsProc;
     std::stack<std::string> _parsing_file;
     std::string _file;
-    bool _relative_path;
     std::string _path_root;
     std::vector<SubscriberManager> _subscriber_managers;
     YAML::Node problem;
@@ -201,11 +200,7 @@ class ParserYAML {
     YAML::Node loadYAML(std::string);
     void insert_register(std::string, std::string);
 public:
-    ParserYAML(bool freely_parse = false): ParserYAML("", "", freely_parse){
-    }
-    ParserYAML(std::string file, bool freely_parse = false)
-        : ParserYAML(file, "", freely_parse) {}
-    ParserYAML(std::string file, std::string path_root,
+    ParserYAML(std::string file, std::string path_root = "",
                bool freely_parse = false) {
       _params = std::map<std::string, std::string>();
       _active_name = "";
@@ -215,19 +210,17 @@ public:
       _parsing_file = std::stack<std::string>();
       _file = file;
       if (path_root != "") {
-        std::regex r("/$");
+        std::regex r(".*/ *$");
         if (not std::regex_match(path_root, r))
           _path_root = path_root + "/";
         else
           _path_root = path_root;
-        _relative_path = true;
-      } else {
-        _relative_path = false;
       }
       if(not freely_parse) this->parse();
       else this->parse_freely();
     }
-    ~ParserYAML(){
+    ~ParserYAML()
+    {
         //
     }
     void parse_freely();
@@ -243,12 +236,12 @@ public:
     std::string tagsToString(std::vector<std::string>& tags);
     void parse();
 };
-std::string ParserYAML::generatePath(std::string path){
+std::string ParserYAML::generatePath(std::string file){
     std::regex r("^/.*");
-    if(std::regex_match(path, r)){
-        return path;
+    if(std::regex_match(file, r)){
+        return file;
     }else{
-        return _path_root + path;
+        return _path_root + file;
     }
 }
 YAML::Node ParserYAML::loadYAML(std::string file){
@@ -472,11 +465,10 @@ void ParserYAML::parse(){
 
     if (n.Type() == YAML::NodeType::Map)
         {
-            WOLF_INFO("HELLO");
             for (auto it : n)
                 {
                     auto node = it.second;
-                    WOLF_INFO("WUT ", it.first);
+                    // WOLF_INFO("WUT ", it.first);
                     std::vector<std::string> tags = std::vector<std::string>();
                     if(it.first.as<std::string>() != "config")
                         this->walkTreeR(node, tags, it.first.as<std::string>());
@@ -485,7 +477,7 @@ void ParserYAML::parse(){
                             for (auto itt : node)
                                 {
                                     std::string node_key = itt.first.as<std::string>();
-                                    WOLF_INFO("node_key ", node_key);
+                                    // WOLF_INFO("node_key ", node_key);
                                     if (node_key != "problem" and node_key != "sensors" and node_key != "processors" and
                                         node_key != "ROS subscriber managers")
                                         {
@@ -496,7 +488,6 @@ void ParserYAML::parse(){
                 }
         }else
         {
-            WOLF_INFO("GETTING HERE?");
             std::vector<std::string> tags = std::vector<std::string>();
             this->walkTreeR(n, tags, "");
         }