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object_manipulator::MultiArmServiceWrapper< ServiceDataType > Class Template Reference

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

#include <service_action_wrappers.h>

List of all members.

Public Member Functions

ros::ServiceClientclient (std::string arm_name, ros::Duration timeout=ros::Duration(5.0))
 Returns a service client for the requested arm.
 MultiArmServiceWrapper (std::string prefix, std::string suffix, bool resolve_names)
 Sets the node handle, prefix and suffix.

Private Types

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

Private Attributes

map_type clients_
 The list of clients already created, mapped to service names.
ros::NodeHandle nh_
 The node handle used to create services.
std::string prefix_
 Prefix attached to arm name to get service name.
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 service name.

Detailed Description

template<class ServiceDataType>
class object_manipulator::MultiArmServiceWrapper< ServiceDataType >

A wrapper for multiple instances of a given service, one for each arm in the system.

This function performs mapping from an arm_name to a service for that arm.

It obtains the name of the service by adding a prefix and/or suffix to the name of the arm.

For each arm, it also performs "wait on first use service". When the service for a given arm name is first requested, it will wait for the service, then create the client and return it. It will also remember the client, so that on subsequent calls the client is returned directly without additional waiting.

Definition at line 103 of file service_action_wrappers.h.


Member Typedef Documentation

template<class ServiceDataType>
typedef std::map<std::string, ros::ServiceClient> object_manipulator::MultiArmServiceWrapper< ServiceDataType >::map_type [private]

Definition at line 115 of file service_action_wrappers.h.


Constructor & Destructor Documentation

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

Sets the node handle, prefix and suffix.

Definition at line 126 of file service_action_wrappers.h.


Member Function Documentation

template<class ServiceDataType>
ros::ServiceClient& object_manipulator::MultiArmServiceWrapper< ServiceDataType >::client ( std::string  arm_name,
ros::Duration  timeout = ros::Duration(5.0) 
) [inline]

Returns a service client for the requested arm.

Service name is obtained as prefix + arm_name + suffix. On first request for a given arm, a service client will be initialized, and the service will be waited for. On subsequent calls for the same arm, the service is returned directly.

Definition at line 135 of file service_action_wrappers.h.


Member Data Documentation

template<class ServiceDataType>
map_type object_manipulator::MultiArmServiceWrapper< ServiceDataType >::clients_ [private]

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

Definition at line 118 of file service_action_wrappers.h.

template<class ServiceDataType>
ros::NodeHandle object_manipulator::MultiArmServiceWrapper< ServiceDataType >::nh_ [private]

The node handle used to create services.

Definition at line 107 of file service_action_wrappers.h.

template<class ServiceDataType>
std::string object_manipulator::MultiArmServiceWrapper< ServiceDataType >::prefix_ [private]

Prefix attached to arm name to get service name.

Definition at line 110 of file service_action_wrappers.h.

template<class ServiceDataType>
bool object_manipulator::MultiArmServiceWrapper< ServiceDataType >::resolve_names_ [private]

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

Use this if you are remapping service names.

Definition at line 122 of file service_action_wrappers.h.

template<class ServiceDataType>
std::string object_manipulator::MultiArmServiceWrapper< ServiceDataType >::suffix_ [private]

Suffix attached to arm name to get service name.

Definition at line 113 of file service_action_wrappers.h.


The documentation for this class was generated from the following file:
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katana_object_manipulator
Author(s): Henning Deeken
autogenerated on Thu Jan 3 2013 14:44:43