pose_graph::DiffPublisher Class Reference

#include <diff_publisher.h>

Public Member Functions
void	addDiff (graph_mapping_msgs::ConstraintGraphDiff *diff)
	add the next diff Stamp diff with current id
	DiffPublisher ()
	Constructor that initializes empty graph.
bool	getGraph (graph_mapping_msgs::GetGraph::Request &req, graph_mapping_msgs::GetGraph::Response &resp)
	Allow subscribers to request the entire graph.
void	setGraph (const ConstraintGraph &graph)
Private Attributes
unsigned	current_id_
ros::Publisher	diff_pub_
ConstraintGraph	graph_
ros::ServiceServer	graph_srv_
boost::mutex	mutex_
ros::NodeHandle	nh_

Detailed Description

Definition at line 48 of file diff_publisher.h.

Constructor & Destructor Documentation

pose_graph::DiffPublisher::DiffPublisher ( )

Constructor that initializes empty graph.

Definition at line 45 of file diff_publisher.cpp.

Member Function Documentation

void pose_graph::DiffPublisher::addDiff ( graph_mapping_msgs::ConstraintGraphDiff * diff )

add the next diff Stamp diff with current id

bool pose_graph::DiffPublisher::getGraph	(	graph_mapping_msgs::GetGraph::Request &	req,
		graph_mapping_msgs::GetGraph::Response &	resp
	)

Allow subscribers to request the entire graph.

void pose_graph::DiffPublisher::setGraph ( const ConstraintGraph & graph )

Reset the entire graph; this will trigger all subscribers requesting a new full graph Caller responsible for making sure this isn't interleaved with a call to addDiff

Definition at line 68 of file diff_publisher.cpp.