#include <renamer.hpp>
Public Member Functions | |
| const std::vector< SString > & | alias () const |
| const std::vector< SString > & | pattern () const |
| const std::vector< SString > & | substitution () const |
| SubstitutionRule (const char *pattern, const char *alias, const char *substitution) | |
| Pass the three arguments (pattern, alias, substitution) as point separated strings. | |
Private Attributes | |
| std::vector< SString > | _alias |
| std::vector< SString > | _pattern |
| std::vector< SString > | _substitution |
Definition at line 43 of file renamer.hpp.
| RosIntrospection::SubstitutionRule::SubstitutionRule | ( | const char * | pattern, |
| const char * | alias, | ||
| const char * | substitution | ||
| ) |
Pass the three arguments (pattern, alias, substitution) as point separated strings.
Example; consider the JointState message. Before renaming your key/value pair will look like
JointState.header.seq >> 1234 JointState.header.stamp >> 2000.00 JointState.header.frame_id >> base_frame
JointState.position.0 >> 11 JointState.velocity.0 >> 21 JointState.effort.0 >> 31 JointState.name.0 >> first_joint
JointState.position.1 >> 12 JointState.velocity.1 >> 22 JointState.effort.1 >> 32 JointState.name.1 >> second_joint
you can "remap" this to
JointState.header.seq >> 1234 JointState.header.stamp >> 2000.00 JointState.header.frame_id >> base_frame
JointState.first_joint.pos >> 11 JointState.first_joint.vel >> 21 JointState.first_joint.eff >> 31
JointState.second_joint.pos >> 12 JointState.second_joint.vel >> 22 JointState.second_joint.eff >> 32
using these three rules:
std::vector<SubstitutionRule> rules; rules.push_back( SubstitutionRule( "position.#", "name.#", "@.pos" )); rules.push_back( SubstitutionRule( "velocity.#", "name.#", "@.vel" )); rules.push_back( SubstitutionRule( "effort.#", "name.#", "@.eff" ));
These rules are pretty easy to use. For instance, let's consider the following example:
the rule `SubstitutionRule( "position.#", "name.#", "@.pos" )` is using `JointState.name.0 = first_joint` to convert `JointState.position.0 = 11` into `JointState.first_joint.pos = 11`
1. The first argument, __"position.#"__, means: "find any element in `ROSTypeFlat::value` which contains the pattern [position.#] where __#__ is a number".
JointState.position.0 = 11
2. The second argument, __"name.#"__, means: "find the element in `ROSTypeFlat::name` which contains the pattern [name.#] where __#__ is the __same__ number found in the previous pattern".
JointState.name.0 = first_joint
3. The third argument, __"@.pos"__, means: "substitute the pattern found in 1. with this string, where the symbol __@__ represent the name found in 2". The final result is therefore:
JointState.first_joint.pos = 11
| pattern | The pattern to be found in ROSTypeFlat::value. |
| alias | The name_id that substitutes the number in the pattern. To be found in ROSTypeFlat::name. |
| substitution | The way the alias should be used to substitute the pattern in ROSTypeFlat::renamed_value. |
Definition at line 289 of file renamer.cpp.
| const std::vector<SString>& RosIntrospection::SubstitutionRule::alias | ( | ) | const [inline] |
Definition at line 115 of file renamer.hpp.
| const std::vector<SString>& RosIntrospection::SubstitutionRule::pattern | ( | ) | const [inline] |
Definition at line 114 of file renamer.hpp.
| const std::vector<SString>& RosIntrospection::SubstitutionRule::substitution | ( | ) | const [inline] |
Definition at line 116 of file renamer.hpp.
std::vector<SString> RosIntrospection::SubstitutionRule::_alias [private] |
Definition at line 121 of file renamer.hpp.
std::vector<SString> RosIntrospection::SubstitutionRule::_pattern [private] |
Definition at line 120 of file renamer.hpp.
std::vector<SString> RosIntrospection::SubstitutionRule::_substitution [private] |
Definition at line 122 of file renamer.hpp.