Passing an array of vectors via nodehandle

edit

Hi,

For that complex structure you will need to use xmlrpcpp in order to parse the config file.

You can find a small example of the usage here and the documentation/class doc here.

EDIT: To be more specific about the capabilities of this tool and assuming you follow the structure provided in your comment:

//...
//#include <XmlRpcValue.h>
//#include <vector>
//...

//ros::NodeHandle& p_nh
//...

XmlRpc::XmlRpcValue positions;
p_nh.getParam("Points", positions);
std::vector<double> aux_vector;
std::vector<std::vector<double>> Points;

for(int ia = 0; ia < positions.size(); ++ia)
{
    for(int ib = 0; ib < positions[ia].size(); ++ib)
    {
        aux_vector.push_back(double(positions[ia][ib]));
    }

    Points.push_back(aux_vector);
    aux_vector.clear();
}

for (auto ptr = Points.begin(); ptr < Points.end(); ++ptr) 
{
    for (auto ptr2 = ptr->begin(); ptr2 < ptr->end(); ++ptr2) 
    {
        std::cout << *ptr2 << " ";
    }
    std::cout << std::endl;
}

With this chunck of code you will be able to read that config and store it is the std::vector<std::vector<double>> Points data structure.