device_impl.h File Reference

#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <art_msgs/BrakeCommand.h>
#include <art_msgs/BrakeState.h>
#include <art_msgs/Shifter.h>
#include <art_msgs/SteeringCommand.h>
#include <art_msgs/SteeringState.h>
#include <art_msgs/ThrottleCommand.h>
#include <art_msgs/ThrottleState.h>
#include "device_interface.h"

Include dependency graph for device_impl.h:

Go to the source code of this file.

Classes
class	device_interface::DeviceBrake
class	device_interface::DeviceImu
class	device_interface::DeviceOdom
class	device_interface::DeviceShifter
class	device_interface::DeviceSteering
class	device_interface::DeviceThrottle
Namespaces
namespace	device_interface

---

Detailed Description

ART autonomous vehicle device interface implementations for pilot node.

This is an implementation header. It is only included by pilot.cc, to instantiate the derived classes. Any other modules using these interfaces should include device_interface.h, instead.

Note:

There is a lot of repeated code here, mostly due to the diversity of message types. Templates could reduce some of the repetition, but at the cost of extra complexity. That additional indirection would make the code harder to read and understand.

Author:

Jack O'Quin

Definition in file device_impl.h.