TopicSynchronizer Class Reference

A class for synchronizing incoming topics. More...

#include <topic_synchronizer.h>

List of all members.

Classes
class	CallbackFunctor
Public Member Functions
void	reset ()
	TopicSynchronizer (void(*fp)())
template<typename T >
	TopicSynchronizer (void(T::*fp)(), T *obj)
void	update (const ros::Time &time)
Public Attributes
const boost::function< void(const boost::shared_ptr< M const > &)>	synchronize (void(T::*fp)(const boost::shared_ptr< M const > &), T *obj)
Private Attributes
boost::function< void()>	callback_
int	count_
int	expected_count_
boost::mutex	mutex_
ros::Time	time_

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Detailed Description

A class for synchronizing incoming topics.

The Topic Synchronizerc ismpassed a function pointer at construction to be called every time all of your topics have arrived.

Example of usage:

TopicSynchronizer sync(&MyClass::syncCallback, this);

ros::Subscriber left_image_sub_ = nh_.subscribe("stereo/left/image_rect", 1, sync.synchronize(&MyClass::leftImageCallback, this)); ros::Subscriber right_image_sub_ = nh_.subscribe("stereo/right/image_rect", 1, sync.synchronize(&MyClass::rightImageCallback, this)); ros::Subscriber disparity_sub_ = nh_.subscribe("stereo/disparity", 1, sync.synchronize(&MyClass::disparityImageCallback, this)); ros::Subscriber cloud_sub_ = nh_.subscribe("stereo/cloud", 1, sync.synchronize(&MyClass::cloudCallback, this));

Definition at line 61 of file topic_synchronizer.h.

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Constructor & Destructor Documentation

template<typename T >

TopicSynchronizer::TopicSynchronizer	(	void(T::*)()	fp,
		T *	obj
	)			[inline]

Definition at line 72 of file topic_synchronizer.h.

TopicSynchronizer::TopicSynchronizer

(

void(*)()

fp

)

[inline]

Definition at line 77 of file topic_synchronizer.h.

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Member Function Documentation

void TopicSynchronizer::reset

(

)

[inline]

Definition at line 137 of file topic_synchronizer.h.

void TopicSynchronizer::update

(

const ros::Time &

time

)

[inline]

Definition at line 143 of file topic_synchronizer.h.

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Member Data Documentation

boost::function<void ()> TopicSynchronizer::callback_ [private]

Definition at line 66 of file topic_synchronizer.h.

int TopicSynchronizer::count_ [private]

Definition at line 64 of file topic_synchronizer.h.

int TopicSynchronizer::expected_count_ [private]

Definition at line 63 of file topic_synchronizer.h.

boost::mutex TopicSynchronizer::mutex_ [private]

Definition at line 67 of file topic_synchronizer.h.

const boost::function< void(const boost::shared_ptr< M const > &)> TopicSynchronizer::synchronize [inline]

Definition at line 103 of file topic_synchronizer.h.

ros::Time TopicSynchronizer::time_ [private]

Definition at line 65 of file topic_synchronizer.h.

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

• topic_synchronizer.h