Class GraphSaver

• Defined in File graph_saver.hpp

Class Documentation

class GraphSaver

An object to save graph objects to a file.

Public Functions

explicit GraphSaver(rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr<tf2_ros::Buffer> tf, const std::string frame)

A constructor for nav2_route::GraphSaver.

Parameters:

• node – Lifecycle node encapsulated by the GraphSaver

• tf – A tf buffer

• frame – Coordinate frame that the graph belongs to

~GraphSaver() = default

A destructor for nav2_route::GraphSaver.

bool saveGraphToFile(Graph &graph, std::string filepath = "")

Saves a graph object to a file.

Parameters:

• graph – Graph to save

• filepath – The filepath to the graph data

Returns:

bool If successful

bool transformGraph(Graph &graph)

Transform the coordinates in the graph to the route frame.

Parameters:

[in/out] – graph The graph to be transformed

Returns:

True if transformation was successful

Protected Attributes

std::string route_frame_

std::string graph_filepath_

std::shared_ptr<tf2_ros::Buffer> tf_

rclcpp::Logger logger_ = {rclcpp::get_logger("GraphSaver")}

pluginlib::ClassLoader<GraphFileSaver> plugin_loader_

GraphFileSaver::Ptr graph_file_saver_

std::string default_plugin_id_

std::string plugin_type_