ModuleParamCache< ValueType > Class Template Reference

#include <module_param_cache.h>

List of all members.

Public Member Functions
void	clearAll ()
	Clear all cache entries for this modules namespace (especially on the param server)
bool	get (const std::string &key, ValueType &value)
	Retrieve a cached value for key.
void	initialize (const std::string &moduleNamespace, ros::NodeHandle *node)
	Initialize the module param cache for param lookup.
	ModuleParamCache ()
void	set (const std::string &key, ValueType value, bool allowCacheAsParam)
	Add a new cache entry.
	~ModuleParamCache ()
Private Attributes
std::map< std::string, ValueType >	_localCache
	local cache only for this planner run
std::string	keyPrefix
ros::NodeHandle *	node
	Param cache across multiple runs.
Static Private Attributes
static std::string	baseNamespace = "/tfd_modules/module_cache"

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Detailed Description

template<class ValueType>
class ModuleParamCache< ValueType >

Module cache that allows to cache entries locally (for one run) or additionally on the param server between multiple runs. ValueType needs to be able to be written as a ROS param. It is assumed that during a planner run only this class accesses the module cache stored on the param server, i.e. nobody interferes.

Definition at line 24 of file module_param_cache.h.

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Constructor & Destructor Documentation

template<class ValueType >

ModuleParamCache< ValueType >::ModuleParamCache

(

)

Definition at line 12 of file module_param_cache.hpp.

template<class ValueType >

ModuleParamCache< ValueType >::~ModuleParamCache

(

)

Definition at line 25 of file module_param_cache.hpp.

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Member Function Documentation

template<class ValueType >

void ModuleParamCache< ValueType >::clearAll

(

)

Clear all cache entries for this modules namespace (especially on the param server)

Definition at line 30 of file module_param_cache.hpp.

template<class ValueType >

bool ModuleParamCache< ValueType >::get	(	const std::string &	key,
		ValueType &	value
	)

Retrieve a cached value for key.

Parameters:

[in]	key	the key for the entry
[out]	value	the retrieved value, if found.

Returns:

true, if the value was found in the cache.

Definition at line 55 of file module_param_cache.hpp.

template<class ValueType >

void ModuleParamCache< ValueType >::initialize	(	const std::string &	moduleNamespace,
		ros::NodeHandle *	node
	)

Initialize the module param cache for param lookup.

Definition at line 18 of file module_param_cache.hpp.

template<class ValueType >

void ModuleParamCache< ValueType >::set	(	const std::string &	key,
		ValueType	value,
		bool	allowCacheAsParam
	)

Add a new cache entry.

Parameters:

[in]	key	the key for the entry
[in]	value	the value to cache for key
[in]	allowCacheAsParam	if true, cache entries are entered on the param server and thus are available between multiple planner calls. Therefore their value should obviously not change in the world throughout multiple calls.

Definition at line 40 of file module_param_cache.hpp.

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Member Data Documentation

template<class ValueType>

std::map<std::string, ValueType> ModuleParamCache< ValueType >::_localCache [private]

local cache only for this planner run

Definition at line 62 of file module_param_cache.h.

template<class ValueType>

std::string ModuleParamCache< ValueType >::baseNamespace = "/tfd_modules/module_cache" [static, private]

Definition at line 56 of file module_param_cache.h.

template<class ValueType>

std::string ModuleParamCache< ValueType >::keyPrefix [private]

Definition at line 60 of file module_param_cache.h.

template<class ValueType>

ros::NodeHandle* ModuleParamCache< ValueType >::node [private]

Param cache across multiple runs.

Definition at line 59 of file module_param_cache.h.

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

• module_param_cache.h
• module_param_cache.hpp