Defined in File source.hpp
Basic data source class.
node – Collision Monitor node pointer
source_name – Name of data source
tf_buffer – Shared pointer to a TF buffer
base_frame_id – Robot base frame ID. The output data will be transformed into this frame.
global_frame_id – Global frame ID for correct transform calculation
transform_tolerance – Transform tolerance
source_timeout – Maximum time interval in which data is considered valid
base_shift_correction – Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time
Adds latest data from source to the data array. Empty virtual method intended to be used in child implementations.
curr_time – Current node time for data interpolation
data – Array where the data from source to be added. Added data is transformed to base_frame_id_ coordinate system at curr_time.
Supporting routine obtaining ROS-parameters common for all data sources.
source_topic – Output name of source subscription topic
Checks whether the source data might be considered as valid.
source_time – Timestamp of latest obtained data
curr_time – Current node time for source verification
True if data source is valid, otherwise false
Collision Monitor node.
Collision monitor node logger stored for further usage.
Name of data source.
Robot base frame ID.
Global frame ID for correct transform calculation.
Maximum time interval in which data is considered valid.
Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.