graph_slam::DiffSubscriber Class Reference

#include <diff_subscriber.h>

List of all members.

Public Types
typedef boost::function< void(boost::optional < const pose_graph::PoseGraphDiff & > , const pose_graph::PoseGraph &)>	DiffCallback
Public Member Functions
	DiffSubscriber (const ros::NodeHandle &nh, const DiffCallback &diff_cb)
	Constructor starts with empty graph and sets up subscriptions.
pose_graph::PoseGraph	getCurrentGraph () const
	Return copy of current graph.
Private Member Functions
void	diffCB (const pose_graph::PoseGraphDiff &diff)
	Subscription callback for diffs.
Private Attributes
DiffCallback	diff_callback_
ros::Subscriber	diff_sub_
pose_graph::PoseGraph	graph_
ros::ServiceClient	graph_client_
unsigned	last_id_
boost::mutex	mutex_
ros::NodeHandle	nh_

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Detailed Description

Does the bookkeeping to subscribe to pose graph diffs It uses an id field to detect if it has dropped a diff. If so, it calls the get_graph service to re-request the entire graph. Calls a supplied callback with the diff (or uninitialized if this was a full graph) and full graph each time a diff is received.

Definition at line 55 of file diff_subscriber.h.

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Member Typedef Documentation

typedef boost::function<void (boost::optional<const pose_graph::PoseGraphDiff&>, const pose_graph::PoseGraph&)> graph_slam::DiffSubscriber::DiffCallback

Definition at line 59 of file diff_subscriber.h.

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Constructor & Destructor Documentation

graph_slam::DiffSubscriber::DiffSubscriber	(	const ros::NodeHandle &	nh,
		const DiffCallback &	diff_cb
	)

Constructor starts with empty graph and sets up subscriptions.

Definition at line 41 of file diff_subscriber.cpp.

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Member Function Documentation

void graph_slam::DiffSubscriber::diffCB

(

const pose_graph::PoseGraphDiff &

diff

)

[private]

Subscription callback for diffs.

Definition at line 57 of file diff_subscriber.cpp.

PoseGraph graph_slam::DiffSubscriber::getCurrentGraph

(

)

const

Return copy of current graph.

Definition at line 77 of file diff_subscriber.cpp.

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Member Data Documentation

DiffCallback graph_slam::DiffSubscriber::diff_callback_ [private]

Definition at line 78 of file diff_subscriber.h.

ros::Subscriber graph_slam::DiffSubscriber::diff_sub_ [private]

Definition at line 79 of file diff_subscriber.h.

pose_graph::PoseGraph graph_slam::DiffSubscriber::graph_ [private]

Definition at line 86 of file diff_subscriber.h.

ros::ServiceClient graph_slam::DiffSubscriber::graph_client_ [private]

Definition at line 80 of file diff_subscriber.h.

unsigned graph_slam::DiffSubscriber::last_id_ [private]

Definition at line 87 of file diff_subscriber.h.

boost::mutex graph_slam::DiffSubscriber::mutex_ [mutable, private]

Definition at line 76 of file diff_subscriber.h.

ros::NodeHandle graph_slam::DiffSubscriber::nh_ [private]

Definition at line 77 of file diff_subscriber.h.

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

• diff_subscriber.h
• diff_subscriber.cpp