#include <diff_publisher.h>

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

Detailed Description

Definition at line 51 of file diff_publisher.h.

Constructor & Destructor Documentation

graph_slam::DiffPublisher::DiffPublisher ( const ros::NodeHandle & nh )

Constructor that initializes empty graph.

Definition at line 39 of file diff_publisher.cpp.

Member Function Documentation

void graph_slam::DiffPublisher::addDiff ( pose_graph::PoseGraphDiff * diff )

add the next diff Stamp diff with current id

Definition at line 46 of file diff_publisher.cpp.

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

Allow subscribers to request the entire graph.

Definition at line 54 of file diff_publisher.cpp.

void graph_slam::DiffPublisher::setGraph ( const pose_graph::PoseGraph & 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 62 of file diff_publisher.cpp.