dynamic_graph::RosRobotStatePublisherMt Class Reference

This class define a dynamic graph wrapper around the vicon client. More...

#include <ros_robot_state_publisher_mt.hpp>

Inheritance diagram for dynamic_graph::RosRobotStatePublisherMt:

Collaboration diagram for dynamic_graph::RosRobotStatePublisherMt:

Public Member Functions
	RosRobotStatePublisherMt (const std::string &name)
void	add (const std::string &base_link_name, const std::string &joint_names, const std::string &tf_prefix, const std::string &signal_name, const std::string &joint_state_topic_name)
int &	trigger (int &, int)
	Trigger the publishing of the data to ros for all signals. More...
void	copy_data_internally (std::shared_ptr< RosRobotStatePublisherMtInternal > publisher, int dg_time)
	Signal callback functions. More...
void	send_data (RosRobotStatePublisherMtInternal &publisher)
	Signal callback functions.

Private Member Functions
virtual const std::string &	getClassName (void) const
	Get the CLASS_NAME object. More...
void	set_tf_msg_to_identity (geometry_msgs::TransformStamped &msg)
	Set a tf msg to identity. More...
void	normalize_tf_msg_quaternion (geometry_msgs::TransformStamped &msg)
	Normalize the tf message quaternion before sending it to the. More...

Private Attributes
SignalOUT	trigger_signal_
	Create an internal output signal which should be call periodically in the device in order to publish the data. More...
ros::NodeHandle &	ros_node_handle_
	Ros node handle corresponding to the dynamic graph process node handle.
std::map< std::string, std::shared_ptr< RosRobotStatePublisherMtInternal > >	publishers_
	This is the list of publishers registered for this class. More...
ros::Duration	rate_
	manage the rate data publication in topics
ros::Time	last_time_of_publication_
	Check at what time the publication was done.

Static Private Attributes
static const std::string	CLASS_NAME
	The class name used to identify it in the dynamic graph pool.

Detailed Description

This class define a dynamic graph wrapper around the vicon client.

Member Function Documentation

add()

void dynamic_graph::RosRobotStatePublisherMt::add	(	const std::string &	base_link_name,
		const std::string &	joint_names,
		const std::string &	tf_prefix,
		const std::string &	signal_name,
		const std::string &	joint_state_topic_name
	)

Parameters

base_link_name
joint_names
tf_prefix
signal_name

copy_data_internally()

void dynamic_graph::RosRobotStatePublisherMt::copy_data_internally	(	std::shared_ptr< RosRobotStatePublisherMtInternal >	publisher,
		int	dg_time
	)

Signal callback functions.

Parameters

publisher	is the ros real time publisher object.
time	the current signal time

getClassName()

virtual const std::string& dynamic_graph::RosRobotStatePublisherMt::getClassName ( void  ) const

inlineprivatevirtual

Get the CLASS_NAME object.

Returns

const std::string&

normalize_tf_msg_quaternion()

void dynamic_graph::RosRobotStatePublisherMt::normalize_tf_msg_quaternion ( geometry_msgs::TransformStamped &  msg )

private

Normalize the tf message quaternion before sending it to the.

Parameters

[in]

set_tf_msg_to_identity()

void dynamic_graph::RosRobotStatePublisherMt::set_tf_msg_to_identity ( geometry_msgs::TransformStamped &  msg )

private

Set a tf msg to identity.

Parameters

[in]

trigger()

int & dynamic_graph::RosRobotStatePublisherMt::trigger	(	int &	dummy,
		int	dg_time
	)

Trigger the publishing of the data to ros for all signals.

Returns

int& dummy stuff.

Member Data Documentation

publishers_

std::map<std::string, std::shared_ptr<RosRobotStatePublisherMtInternal> > dynamic_graph::RosRobotStatePublisherMt::publishers_

private

This is the list of publishers registered for this class.

It correspond to the list of robot states one wants to publish. See the add methode (Command)

trigger_signal_

SignalOUT dynamic_graph::RosRobotStatePublisherMt::trigger_signal_

private

Create an internal output signal which should be call periodically in the device in order to publish the data.

The callback function of this signal is the trigger methode.

---

The documentation for this class was generated from the following files:

• include/ros_entities/ros_robot_state_publisher_mt.hpp
• src/ros_entities/ros_robot_state_publisher_mt.cpp