The DDynamicReconfigure class is the main class responsible for keeping track of parameters basic properties, values, descriptions, etc. More...

#include <ddynamic_reconfigure.h>

Public Member Functions
virtual void	add (DDPtr param)
	adds a parameter to the list, allowing it to be generated.
virtual void	add (DDParam *param)
	a convenience method for adding a parameter to the list, allowing it to be generated.
DDPtr	at (const char *name)
	a tool people who use this API can use to find the param given within the param map.
void	clearCallback ()
	sets the callback to be empty.
	DDynamicReconfigure (ros::NodeHandle &nh)
	creates the most basic instance of a 2d-conf object.
Value	get (const char *name)
	a tool people who use this API can use to find the value given within the param map.
virtual void	remove (DDPtr param)
virtual void	remove (DDParam *param)
virtual void	remove (string param_name)
void	setCallback (DDFunc callback)
	sets the callback to this.
virtual void	start ()
	starts the server and config, without having any callback.
void	start (DDFunc callback)
	starts the server, using the given callback in function form.
void	start (void(*callback)(const DDMap &, int))
	starts the server, using the given callback in method form.
template<class T >
void	start (void(T::callback)(const DDMap &, int), T obj)
	starts the server, using the given callback in class-wise static method form.
Protected Member Functions
Config	makeConfig ()
	makes the config update for publishing
ConfigDescription	makeDescription ()
	makes the config descriptions for publishing
Static Protected Member Functions
static bool	internalCallback (DDynamicReconfigure *obj, Reconfigure::Request &req, Reconfigure::Response &rsp)
	calls the internal callback for the low-level service, not exposed to us.
Protected Attributes
ros::Publisher	desc_pub_
	the publisher responsible for updating the descriptions of the parameter for commandline (desc_pub_), and the publisher responsible for updating the configuration values for commandline and client (update_pub_). desc_pub_ publishes to "parameter_descriptions", and update_pub_ publishes to "/parameter_updates".
ros::NodeHandle	nh_
	the ROS node handler to use to make everything ROS related.
DDMap	params_
	a map of all contained parameters.
ros::Publisher	update_pub_
Private Member Functions
int	getUpdates (const Reconfigure::Request &req, DDMap &config)
	gets the updates and assigns them to DDMap
Static Private Member Functions
template<class T >
static int	reassign (DDMap &map, const string &name, T value)
	reassigns a value to the internal map assuming it is registered.
Private Attributes
boost::shared_ptr< DDFunc >	callback_
	the use defined callback to call when parameters are updated.
ros::ServiceServer	set_service_
	the service server used to trigger parameter updates. It also contains the new parameters sent from client or commandline.
Friends
ostream &	operator<< (ostream &os, const DDynamicReconfigure &dd)
	the operator taking care of streaming the param values

Detailed Description

The DDynamicReconfigure class is the main class responsible for keeping track of parameters basic properties, values, descriptions, etc.

It is also responsible of handling callbacks, config change requests, description setup and config setup, and the ROS publishers and services.

To operate a DDynamic instance, you must go through the following procedure:

1. Construct a DDynamicReconfigure instance with proper handling. 2. Add parameters to the instance as needed with any of the "add" methods. 3. Start the ROS services with any of the "start" methods. 4. If you need to change the callback after startup you may do so using "setCallback". 5. When you need to get any of the stored parameters, call either "get" or "at" on this instance, rather than through the callback.

Definition at line 45 of file ddynamic_reconfigure.h.

Constructor & Destructor Documentation

ddynamic_reconfigure::DDynamicReconfigure::DDynamicReconfigure ( ros::NodeHandle & nh ) [explicit]

creates the most basic instance of a 2d-conf object.

Parameters:

nh	the node handler of the node this is placed at.

Definition at line 17 of file ddynamic_reconfigure.cpp.

Member Function Documentation

void ddynamic_reconfigure::DDynamicReconfigure::add ( DDPtr param ) [virtual]

adds a parameter to the list, allowing it to be generated.

Parameters:

param the pointer to the 2d-param to add to the list.

Definition at line 21 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::add ( DDParam * param ) [virtual]

a convenience method for adding a parameter to the list, allowing it to be generated.

Warning:: When adding in this manner, you must be careful. After using this method to add the parameter, running any of the "remove" methods on this object WILL cause the entire param object to be deleted! To make sure that you can add the object back after removing it, please use the other "add" method.

Parameters:

param the pointer to the 2d-param to add to the list.

Definition at line 25 of file ddynamic_reconfigure.cpp.

DDPtr ddynamic_reconfigure::DDynamicReconfigure::at ( const char * name )

a tool people who use this API can use to find the param given within the param map.

Parameters:

name	the string to look for

Returns:: the param with the given name if it exists, nullptr otherwise

Definition at line 189 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::clearCallback ( )

sets the callback to be empty.

Definition at line 108 of file ddynamic_reconfigure.cpp.

Value ddynamic_reconfigure::DDynamicReconfigure::get ( const char * name )

a tool people who use this API can use to find the value given within the param map.

Parameters:

name	the string to look for

Returns:: the value of param with the given name if it exists, a string value containing "\000" otherwise

Definition at line 185 of file ddynamic_reconfigure.cpp.

int ddynamic_reconfigure::DDynamicReconfigure::getUpdates	(	const Reconfigure::Request &	req,
		DDMap &	config
	)		`[private]`

gets the updates and assigns them to DDMap

Parameters:

req	the ROS request holding info about the new map
config	the map to update

Returns:: the level of change (integer)

Definition at line 133 of file ddynamic_reconfigure.cpp.

bool ddynamic_reconfigure::DDynamicReconfigure::internalCallback	(	DDynamicReconfigure *	obj,
		Reconfigure::Request &	req,
		Reconfigure::Response &	rsp
	)		`[static, protected]`

calls the internal callback for the low-level service, not exposed to us.

Parameters:

obj	the object we are using for its callback.
req	----(ROS)
rsp	----(ROS)

Returns:: -------(ROS)

Note:: this is here so that deriving methods can call the internal callback.

Definition at line 113 of file ddynamic_reconfigure.cpp.

Config ddynamic_reconfigure::DDynamicReconfigure::makeConfig ( ) [protected]

makes the config update for publishing

Returns:: a ROS message of type Config

Definition at line 58 of file ddynamic_reconfigure.cpp.

ConfigDescription ddynamic_reconfigure::DDynamicReconfigure::makeDescription ( ) [protected]

makes the config descriptions for publishing

Returns:: a ROS message of type ConfigDescription

Definition at line 72 of file ddynamic_reconfigure.cpp.

template<class T >

int ddynamic_reconfigure::DDynamicReconfigure::reassign	(	DDMap &	map,
		const string &	name,
		T	value
	)		`[static, private]`

reassigns a value to the internal map assuming it is registered.

Parameters:

map	the map that is being edited
name	the name of the parameter to test
value	the value of the new parameter

Template Parameters:

T	the type of value

Returns:: -1 if the value could not be reassigned, 0 if the value was not changed, otherwise the level of the parameter changed.

Definition at line 172 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::remove ( DDPtr param ) [virtual]

removes the specified parameter from the list.

Parameters:

param the parameter to remove.

Definition at line 29 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::remove ( DDParam * param ) [virtual]

removes the specified parameter from the list.

Parameters:

param the parameter to remove.

Definition at line 33 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::remove ( string param_name ) [virtual]

removes the specified parameter from the list.

Parameters:

param_name the name of the parameter to remove.

Definition at line 37 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::setCallback ( DDFunc callback )

sets the callback to this.

Parameters:

callback a boost function with the method to use when values are updated.

Definition at line 102 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::start ( ) [virtual]

starts the server and config, without having any callback.

Definition at line 41 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::start ( DDFunc callback )

starts the server, using the given callback in function form.

Parameters:

callback a boost function with the method to use when values are updated.

Definition at line 86 of file ddynamic_reconfigure.cpp.

void ddynamic_reconfigure::DDynamicReconfigure::start ( void(*)(const DDMap &, int) callback )

starts the server, using the given callback in method form.

Parameters:

callback a void pointer accepting a callback type with the method to use when values are updated.

Definition at line 91 of file ddynamic_reconfigure.cpp.

template<class T >

void ddynamic_reconfigure::DDynamicReconfigure::start	(	void(T::*)(const DDMap &, int)	callback,
		T *	obj
	)		`[inline]`

starts the server, using the given callback in class-wise static method form.

Parameters:

callback	a class void pointer accepting a callback type with the method to use when values are updated.
obj	the object used for reference in the class void

Template Parameters:

T	the class of the object.

Definition at line 121 of file ddynamic_reconfigure.h.

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	os,
		const DDynamicReconfigure &	dd
	)		`[friend]`

the operator taking care of streaming the param values

Parameters:

os	the stream to place the param into
dd	the dd-reconfigure you want to place into the stream

Returns:: os, but with dd-reconfigure added.

Definition at line 193 of file ddynamic_reconfigure.cpp.

Member Data Documentation

boost::shared_ptr<DDFunc> ddynamic_reconfigure::DDynamicReconfigure::callback_ [private]

the use defined callback to call when parameters are updated.

Definition at line 212 of file ddynamic_reconfigure.h.

ros::Publisher ddynamic_reconfigure::DDynamicReconfigure::desc_pub_ [protected]

the publisher responsible for updating the descriptions of the parameter for commandline (desc_pub_), and the publisher responsible for updating the configuration values for commandline and client (update_pub_). desc_pub_ publishes to "parameter_descriptions", and update_pub_ publishes to "/parameter_updates".

Definition at line 184 of file ddynamic_reconfigure.h.

ros::NodeHandle ddynamic_reconfigure::DDynamicReconfigure::nh_ [protected]

the ROS node handler to use to make everything ROS related.

Definition at line 174 of file ddynamic_reconfigure.h.

DDMap ddynamic_reconfigure::DDynamicReconfigure::params_ [protected]

a map of all contained parameters.

Definition at line 178 of file ddynamic_reconfigure.h.

ros::ServiceServer ddynamic_reconfigure::DDynamicReconfigure::set_service_ [private]

the service server used to trigger parameter updates. It also contains the new parameters sent from client or commandline.

Definition at line 221 of file ddynamic_reconfigure.h.

ros::Publisher ddynamic_reconfigure::DDynamicReconfigure::update_pub_ [protected]

Definition at line 184 of file ddynamic_reconfigure.h.