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object_manipulator::MultiArmTopicWrapper< TopicDataType > Class Template Reference

A wrapper for multiple instances of a topic publisher, one for each arm in the system. More...

#include <service_action_wrappers.h>

List of all members.

Public Member Functions

 MultiArmTopicWrapper (std::string prefix, std::string suffix, bool resolve_names)
 Sets the node handle, prefix and suffix.
ros::Publisherpublisher (std::string arm_name, ros::Duration timeout=ros::Duration(5.0))
 Returns a publisher for the requested arm.

Private Types

typedef std::map< std::string,
ros::Publisher
map_type

Private Attributes

ros::NodeHandle nh_
 The node handle used to create the publisher.
std::string prefix_
 Prefix attached to arm name to get topic name.
map_type publishers_
 The list of publishers already created, mapped to service names.
bool resolve_names_
 Whether the resulting name should first be resolved using the node handle.
std::string suffix_
 Suffix attached to arm name to get topic name.

Detailed Description

template<class TopicDataType>
class object_manipulator::MultiArmTopicWrapper< TopicDataType >

A wrapper for multiple instances of a topic publisher, one for each arm in the system.

This function performs mapping from an arm_name to a topic for that arm. It obtains the name of the action by adding a prefix and/or suffix to the name of the arm.

Definition at line 276 of file service_action_wrappers.h.


Member Typedef Documentation

template<class TopicDataType>
typedef std::map<std::string, ros::Publisher> object_manipulator::MultiArmTopicWrapper< TopicDataType >::map_type [private]

Definition at line 288 of file service_action_wrappers.h.


Constructor & Destructor Documentation

template<class TopicDataType>
object_manipulator::MultiArmTopicWrapper< TopicDataType >::MultiArmTopicWrapper ( std::string  prefix,
std::string  suffix,
bool  resolve_names 
) [inline]

Sets the node handle, prefix and suffix.

Definition at line 299 of file service_action_wrappers.h.


Member Function Documentation

template<class TopicDataType>
ros::Publisher& object_manipulator::MultiArmTopicWrapper< TopicDataType >::publisher ( std::string  arm_name,
ros::Duration  timeout = ros::Duration(5.0) 
) [inline]

Returns a publisher for the requested arm.

Topic name is obtained as prefix + arm_name + suffix. On first request for a given arm, a publisher will be initialized. On subsequent calls for the same arm, the publisher is returned directly.

Definition at line 308 of file service_action_wrappers.h.


Member Data Documentation

template<class TopicDataType>
ros::NodeHandle object_manipulator::MultiArmTopicWrapper< TopicDataType >::nh_ [private]

The node handle used to create the publisher.

Definition at line 280 of file service_action_wrappers.h.

template<class TopicDataType>
std::string object_manipulator::MultiArmTopicWrapper< TopicDataType >::prefix_ [private]

Prefix attached to arm name to get topic name.

Definition at line 283 of file service_action_wrappers.h.

template<class TopicDataType>
map_type object_manipulator::MultiArmTopicWrapper< TopicDataType >::publishers_ [private]

The list of publishers already created, mapped to service names.

Definition at line 291 of file service_action_wrappers.h.

template<class TopicDataType>
bool object_manipulator::MultiArmTopicWrapper< TopicDataType >::resolve_names_ [private]

Whether the resulting name should first be resolved using the node handle.

Use this if you are remapping topic names.

Definition at line 295 of file service_action_wrappers.h.

template<class TopicDataType>
std::string object_manipulator::MultiArmTopicWrapper< TopicDataType >::suffix_ [private]

Suffix attached to arm name to get topic name.

Definition at line 286 of file service_action_wrappers.h.


The documentation for this class was generated from the following file:
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object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:35:38 2013