Synchronizes up to 9 messages by their timestamps. More...

#include <time_synchronizer.h>

Inheritance diagram for message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 >:

Public Types
typedef Synchronizer< Policy >	Base
typedef boost::shared_ptr< M0 const >	M0ConstPtr
typedef Base::M0Event	M0Event
typedef boost::shared_ptr< M1 const >	M1ConstPtr
typedef Base::M1Event	M1Event
typedef boost::shared_ptr< M2 const >	M2ConstPtr
typedef Base::M2Event	M2Event
typedef boost::shared_ptr< M3 const >	M3ConstPtr
typedef Base::M3Event	M3Event
typedef boost::shared_ptr< M4 const >	M4ConstPtr
typedef Base::M4Event	M4Event
typedef boost::shared_ptr< M5 const >	M5ConstPtr
typedef Base::M5Event	M5Event
typedef boost::shared_ptr< M6 const >	M6ConstPtr
typedef Base::M6Event	M6Event
typedef boost::shared_ptr< M7 const >	M7ConstPtr
typedef Base::M7Event	M7Event
typedef boost::shared_ptr< M8 const >	M8ConstPtr
typedef Base::M8Event	M8Event
typedef sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 >	Policy
Public Member Functions
void	add0 (const M0ConstPtr &msg)
void	add1 (const M1ConstPtr &msg)
void	add2 (const M2ConstPtr &msg)
void	add3 (const M3ConstPtr &msg)
void	add4 (const M4ConstPtr &msg)
void	add5 (const M5ConstPtr &msg)
void	add6 (const M6ConstPtr &msg)
void	add7 (const M7ConstPtr &msg)
void	add8 (const M8ConstPtr &msg)
template<class F0 , class F1 >
	TimeSynchronizer (F0 &f0, F1 &f1, uint32_t queue_size)
template<class F0 , class F1 , class F2 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 , class F4 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 , class F7 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, uint32_t queue_size)
template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 , class F7 , class F8 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8, uint32_t queue_size)
	TimeSynchronizer (uint32_t queue_size)

Detailed Description

template<class M0, class M1, class M2 = NullType, class M3 = NullType, class M4 = NullType, class M5 = NullType, class M6 = NullType, class M7 = NullType, class M8 = NullType>
class message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 >

Synchronizes up to 9 messages by their timestamps.

TimeSynchronizer synchronizes up to 9 incoming channels by the timestamps contained in their messages' headers. TimeSynchronizer takes anywhere from 2 to 9 message types as template parameters, and passes them through to a callback which takes a shared pointer of each.

The required queue size parameter when constructing the TimeSynchronizer tells it how many sets of messages it should store (by timestamp) while waiting for messages to arrive and complete their "set"

CONNECTIONS

The input connections for the TimeSynchronizer object is the same signature as for roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<M const>&);

The output connection for the TimeSynchronizer object is dependent on the number of messages being synchronized. For a 3-message synchronizer for example, it would be:

void callback(const boost::shared_ptr<M0 const>&, const boost::shared_ptr<M1 const>&, const boost::shared_ptr<M2 const>&);

USAGE

Example usage would be:

TimeSynchronizer<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> sync_policies(caminfo_sub, limage_sub, rimage_sub, 3);
sync_policies.registerCallback(callback);

The callback is then of the form:

void callback(const sensor_msgs::CameraInfo::ConstPtr&, const sensor_msgs::Image::ConstPtr&, const sensor_msgs::Image::ConstPtr&);

Definition at line 85 of file time_synchronizer.h.