this is this package namespace in order to avoid naming conflict More...

Namespaces
	specific
	Types dedicated to identify pairs of (dg,ros) data.

Classes
class	Device

class	DeviceSimulator

class	DgToRos
	DgToRos trait type. More...

struct	DgToRos< double >

struct	DgToRos< Matrix >

struct	DgToRos< MatrixHomogeneous >

struct	DgToRos< specific::Twist >

struct	DgToRos< specific::Vector3 >

struct	DgToRos< std::pair< MatrixHomogeneous, Vector > >

struct	DgToRos< std::pair< specific::Twist, Vector > >

struct	DgToRos< std::pair< specific::Vector3, Vector > >

struct	DgToRos< unsigned int >

struct	DgToRos< Vector >

class	DynamicGraphManager
	This class has for purpose to manage the different processes during run time. More...

class	ExceptionAbstract
	The ExceptionAbstract class. More...

class	ExceptionDynamic
	ExceptionDynamic. More...

class	ExceptionFactory
	The ExceptionFactory class. More...

class	ExceptionFeature

class	ExceptionSignal

class	ExceptionTask
	ExceptionTask. More...

class	ExceptionTools

class	ExceptionYamlCpp

struct	GlobalRos
	The GlobalRos struct is a structure that allows to gloabally handle the ROS objects. More...

class	PeriodicCall

class	RosPublish
	Publish dynamic-graph information into ROS. More...

class	RosPythonInterpreter
	This class wraps the implementation of the runCommand service. More...

class	RosQueuedSubscribe
	Publish ROS information in the dynamic-graph. More...

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

struct	RosRobotStatePublisherInternal

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

struct	RosRobotStatePublisherMtInternal

class	RosSubscribe
	Publish ROS information in the dynamic-graph. More...

class	RosTfListener

class	RosTime

Typedefs
typedef dynamicgraph::Signal< dynamicgraph::Vector, int >	OutSignal

typedef dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	InSignal

typedef std::map< std::string, OutSignal * >	DeviceOutSignalMap

typedef std::map< std::string, InSignal * >	DeviceInSignalMap

typedef std::chrono::steady_clock	clock
	clock is the std::chrono::high_resolution_clock object. More...

typedef std::map< std::string, dynamicgraph::Vector >	VectorDGMap
	VectorDGMap is a shortcut for the very long type of the map.

typedef boost::posix_time::ptime	ptime

typedef boost::posix_time::seconds	seconds

typedef boost::posix_time::microseconds	microseconds

typedef boost::posix_time::time_duration	time_duration

typedef boost::gregorian::date	date

typedef dynamicgraph::Vector	Vector

typedef dynamicgraph::Matrix	Matrix

typedef Eigen::Transform< double, 3, Eigen::Affine >	MatrixHomogeneous

typedef Eigen::Matrix< double, 3, 3 >	MatrixRotation

typedef Eigen::AngleAxis< double >	VectorUTheta

typedef Eigen::Quaternion< double >	VectorQuaternion

typedef Eigen::Vector3d	VectorRotation

typedef Eigen::Vector3d	VectorRollPitchYaw

typedef Eigen::Matrix< double, 6, 6 >	MatrixForce

typedef Eigen::Matrix< double, 6, 6 >	MatrixTwist

typedef dynamicgraph::SignalTimeDependent< int, int >	SignalOUT
	Simple shortcut for code writing convenience.

typedef dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	SignalIN
	Simple shortcut for code writing convenience.

typedef boost::function< void(int)>	callback_t
	Simple shortcut for code writing convenience.

typedef realtime_tools::RealtimePublisher< tf2_msgs::TFMessage >	TfRtPublisher
	Renaming of the tf publisher type.

typedef realtime_tools::RealtimePublisher< sensor_msgs::JointState >	JointStateRtPublisher
	Renaming of the joint position publisher type.

Functions
ros::NodeHandle &	ros_init (std::string node_name)
	rosInit is a global method that uses the structure GlobalRos. More...

ros::AsyncSpinner &	ros_spinner (std::string node_name)
	ros_spinner return the async_spinner_. More...

void	ros_shutdown (std::string node_name)
	ros_shutdown shuts down ros and stop the ros spinner with the associate name

void	ros_shutdown ()
	ros_shutdown shuts down ros and stop the ros spinners

bool	ros_exist (std::string node_name)
	Check if a node handle has been created or not.

void	parse_yaml_node (const YAML::Node &sensors_and_controls, VectorDGMap &out_sensors_map, VectorDGMap &out_motor_controls_map)
	parse_yaml_node allows to parse the yaml node to create the according maps of dynamicgraph::Vector. More...

void	makeHeader (std_msgs::Header &header)

template<typename D , typename S >
void	converter (D &dst, const S &src)
	Handle ROS <-> dynamic-graph conversion. More...

	DG_TO_ROS_IMPL (double)

	ROS_TO_DG_IMPL (double)

	DG_TO_ROS_IMPL (unsigned int)

	ROS_TO_DG_IMPL (unsigned int)

	DG_TO_ROS_IMPL (Vector)

	ROS_TO_DG_IMPL (Vector)

	DG_TO_ROS_IMPL (specific::Vector3)

	ROS_TO_DG_IMPL (specific::Vector3)

	DG_TO_ROS_IMPL (Matrix)

	ROS_TO_DG_IMPL (Matrix)

	DG_TO_ROS_IMPL (MatrixHomogeneous)

	ROS_TO_DG_IMPL (MatrixHomogeneous)

	DG_TO_ROS_IMPL (specific::Twist)

	ROS_TO_DG_IMPL (specific::Twist)

	DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (specific::Vector3, vector, ;)

	DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (MatrixHomogeneous, transform, dst.child_frame_id="";)

	DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL (specific::Twist, twist, ;)

	DG_BRIDGE_MAKE_SHPTR_IMPL (double)

	DG_BRIDGE_MAKE_SHPTR_IMPL (unsigned int)

	DG_BRIDGE_MAKE_SHPTR_IMPL (Vector)

	DG_BRIDGE_MAKE_SHPTR_IMPL (specific::Vector3)

	DG_BRIDGE_MAKE_SHPTR_IMPL (Matrix)

	DG_BRIDGE_MAKE_SHPTR_IMPL (MatrixHomogeneous)

	DG_BRIDGE_MAKE_SHPTR_IMPL (specific::Twist)

	DG_BRIDGE_MAKE_STAMPED_IMPL (specific::Vector3, vector, ;)

	DG_BRIDGE_MAKE_STAMPED_IMPL (MatrixHomogeneous, transform, ;)

	DG_BRIDGE_MAKE_STAMPED_IMPL (specific::Twist, twist, ;)

	DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (specific::Vector3, vector, ;)

	DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (MatrixHomogeneous, transform, ;)

	DG_BRIDGE_MAKE_STAMPED_SHPTR_IMPL (specific::Twist, twist, ;)

template<typename U , typename V >
void	converter (U &dst, V &src)
	If an impossible/unimplemented conversion is required, fail. More...

boost::posix_time::ptime	rosTimeToPtime (const ros::Time &rosTime)

ros::Time	pTimeToRostime (const boost::posix_time::ptime &time)

std::string	makeSignalString (const std::string &className, const std::string &instanceName, bool isInputSignal, const std::string &signalType, const std::string &signalName)

void	buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)

template<>
void	RosPublish::sendData< std::pair< MatrixHomogeneous, Vector > > (boost::shared_ptr< realtime_tools::RealtimePublisher< DgToRos< std::pair< MatrixHomogeneous, Vector > >::ros_t > > publisher, boost::shared_ptr< DgToRos< std::pair< MatrixHomogeneous, Vector > >::signalIn_t > signal, int time)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DeviceSimulator, "DeviceSimulator")
	dynamic_graph::Device::CLASS_NAME must be the name as the actual device class.

ostream &	operator<< (ostream &os, const ExceptionAbstract &error)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosPublish, "RosPublish")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosQueuedSubscribe, "RosQueuedSubscribe")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosRobotStatePublisher, "RosRobotStatePublisher")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosRobotStatePublisherMt, "RosRobotStatePublisherMt")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosSubscribe, "RosSubscribe")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosTfListener, "RosTfListener")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RosTime, "RosTime")

Variables
static std::map< std::string, std::unique_ptr< GlobalRos > >	GLOBAL_ROS_VAR
	GLOBAL_ROS_VAR is global variable that acts as a singleton on the ROS node handle and the spinner. More...

static const int	queueSize = 5

Detailed Description

this is this package namespace in order to avoid naming conflict

Typedef Documentation

◆ clock

typedef std::chrono::steady_clock dynamic_graph::clock

clock is the std::chrono::high_resolution_clock object.

This typedef is here as a shortcut to simplify the code readability.

Function Documentation

◆ converter() [1/2]

template<typename D , typename S >

void dynamic_graph::converter	(	D &	dst,
		const S &	src
	)

Handle ROS <-> dynamic-graph conversion.

Implements all ROS/dynamic-graph conversions required by the bridge.

Relies on the DgToRos type trait to make sure valid pair of types are used.

◆ converter() [2/2]

template<typename U , typename V >

void dynamic_graph::converter	(	U &	dst,
		V &	src
	)

inline

If an impossible/unimplemented conversion is required, fail.

IMPORTANT, READ ME:

If the compiler generates an error in the following function, this is /normal/.

This error means that either you try to use an undefined conversion. You can either fix your code or provide the wanted conversion by updating this header.

◆ parse_yaml_node()

void dynamic_graph::parse_yaml_node	(	const YAML::Node &	sensors_and_controls,
		VectorDGMap &	out_sensors_map,
		VectorDGMap &	out_motor_controls_map
	)

parse_yaml_node allows to parse the yaml node to create the according maps of dynamicgraph::Vector.

Parameters

[in]	sensors_and_controls	is the node that contains the hardware info.
[out]	out_sensors_map	is the map that contains the sensors data.
[out]	out_motor_controls_map	is the map that contains the motor controls data.

◆ ros_init()

ros::NodeHandle & dynamic_graph::ros_init ( std::string node_name )

rosInit is a global method that uses the structure GlobalRos.

Its role is to create the ros::nodeHandle and the ros::spinner once at the first call. It always returns a reference to the node hanlde.

Returns: the reference of GLOBAL_ROS_VAR.node_handle_.

call ros::init

ros::NodeHandle instanciation

If spinner is not created we create it. Here we can safely assume that ros::init was called before.

create the spinner

run the spinner in a different thread

Return a reference to the node handle so any function can use it

call ros::init

ros::NodeHandle instanciation

If spinner is not created we create it. Here we can safely assume that ros::init was called before.

create the spinner

run the spinner in a different thread

Return a reference to the node handle so any function can use it

Examples:: simple_dgm.hpp.

◆ ros_spinner()

ros::AsyncSpinner & dynamic_graph::ros_spinner ( std::string node_name )

ros_spinner return the async_spinner_.

Call dynamic_graph ros_init if ros has not been initialized

Returns: the reference of GLOBAL_ROS_VAR.async_spinner_.

Variable Documentation

◆ GLOBAL_ROS_VAR

std::map<std::string, std::unique_ptr<GlobalRos> > dynamic_graph::GLOBAL_ROS_VAR

static

GLOBAL_ROS_VAR is global variable that acts as a singleton on the ROS node handle and the spinner.

The use of the std::unique_ptr allows to delete the object and re-create at will. It is usefull to reset the ros environment specifically for unittesting.

If the node handle does not exist we call the global method ros::init. This method has for purpose to initialize the ROS environment. The creation of ROS object is permitted only after the call of this function. After ros::init being called we create the node hanlde which allows in turn to advertize the ROS services, or create topics (data pipe).

Namespaces

Classes

Typedefs

Functions

Variables