Namespaces
namespace	details
Classes
class	RangeException
class	ROSField
	A ROSMessage will contain one or more ROSField(s). Each field is little more than a name / type pair. More...
class	ROSMessage
class	ROSType
	Description of a ROS type. More...
struct	ROSTypeFlat
class	ShapeShifter
	The ShapeShifter class is a type erased container for ROS Messages. It can be used also to create generic publishers and subscribers. More...
struct	StringTreeLeaf
	The StringTreeLeaf is, as the name suggests, a leaf (terminal node) of a StringTree. It provides the pointer to the node and a list of numbers that represent the index that corresponds to the placeholder "#". More...
class	SubstitutionRule
class	TypeException
class	VarNumber
Typedefs
typedef std::vector< std::pair < std::string, VarNumber > >	RenamedValues
typedef std::vector< ROSMessage >	ROSTypeList
typedef ssoX::basic_string< char >	SString
typedef details::Tree< SString >	StringTree
typedef details::TreeElement < SString >	StringTreeNode
typedef std::map< std::string, std::vector < RosIntrospection::SubstitutionRule > >	SubstitutionRuleMap
Enumerations
enum	BuiltinType { BOOL, BYTE, CHAR, UINT8, UINT16, UINT32, UINT64, INT8, INT16, INT32, INT64, FLOAT32, FLOAT64, TIME, DURATION, STRING, OTHER }
Functions
void	applyNameTransform (const std::vector< SubstitutionRule > &rules, const ROSTypeFlat &container_source, RenamedValues &renamed_destination)
void	buildRosFlatType (const ROSTypeList &type_map, ROSType type, SString prefix, uint8_t buffer_ptr, ROSTypeFlat flat_container_output, const uint32_t max_array_size)
	buildRosFlatType is a function that read raw serialized data from a ROS message (generated by a ros bag or a topic) and stored the values of each field in a "flat" container called ROSTypeFlat. For example if you apply this to [geometry_msgs/Pose](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html) the vector ROSTypeFlat::value will contain the following pairs (where ... is the number of that field) :
void	buildRosFlatTypeImpl (const ROSTypeList &type_list, const ROSType &type, StringTreeLeaf tree_node, uint8_t *buffer_ptr, ROSTypeFlat flat_container, const uint32_t max_array_size, bool do_store)
ROSTypeList	buildROSTypeMapFromDefinition (const std::string &type_name, const std::string &msg_definition)
	A single message definition will (most probably) generate myltiple ROSMessage(s). In fact the "child" ROSTypes are parsed as well in a recursive and hierarchical way. To make an example, given as input the [geometry_msgs/Pose](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html) the result will be a ROSTypeList containing Pose, Point and Quaternion.
bool	FindPattern (const std::vector< SString > &pattern, size_t index, const StringTreeNode tail, const StringTreeNode *head)
template<typename T >
BuiltinType	getType ()
template<>
BuiltinType	getType< bool > ()
template<>
BuiltinType	getType< double > ()
template<>
BuiltinType	getType< float > ()
template<>
BuiltinType	getType< int16_t > ()
template<>
BuiltinType	getType< int32_t > ()
template<>
BuiltinType	getType< int64_t > ()
template<>
BuiltinType	getType< int8_t > ()
template<>
BuiltinType	getType< ros::Duration > ()
template<>
BuiltinType	getType< ros::Time > ()
template<>
BuiltinType	getType< std::string > ()
template<>
BuiltinType	getType< uint16_t > ()
template<>
BuiltinType	getType< uint32_t > ()
template<>
BuiltinType	getType< uint64_t > ()
template<>
BuiltinType	getType< uint8_t > ()
bool	isNumberPlaceholder (const SString &s)
bool	isSeparator (const std::string &line)
bool	isSubstitutionPlaceholder (const SString &s)
std::ostream &	operator<< (std::ostream &os, const BuiltinType &c)
std::ostream &	operator<< (std::ostream &os, const StringTreeLeaf &leaf)
std::ostream &	operator<< (std::ostream &s, const ROSTypeList &c)
template<typename T >
bool	operator== (const VarNumber &var, const T &num)
template<typename T >
bool	operator== (const T &num, const VarNumber &var)
int	PatternMatchAndIndexPosition (const StringTreeLeaf &leaf, const StringTreeNode *pattern_head)
int	print_number (char *buffer, uint16_t value)
template<typename T >
T	ReadFromBuffer (uint8_t **buffer)
SString	strippedTypeName (const boost::string_ref &line)
const char *	toStr (const BuiltinType &c)
Variables
const int	BuiltinTypeSize [OTHER]

Typedef Documentation

typedef std::vector< std::pair<std::string, VarNumber> > RosIntrospection::RenamedValues

Definition at line 127 of file renamer.hpp.

typedef std::vector<ROSMessage> RosIntrospection::ROSTypeList

Definition at line 164 of file parser.hpp.

typedef ssoX::basic_string<char> RosIntrospection::SString

Definition at line 50 of file parser.hpp.

typedef details::Tree<SString> RosIntrospection::StringTree

Definition at line 57 of file parser.hpp.

typedef details::TreeElement<SString> RosIntrospection::StringTreeNode

Definition at line 56 of file parser.hpp.

typedef std::map< std::string, std::vector< RosIntrospection::SubstitutionRule > > RosIntrospection::SubstitutionRuleMap

Definition at line 125 of file renamer.hpp.

Enumeration Type Documentation

enum RosIntrospection::BuiltinType

Enumerator:

BOOL
BYTE
CHAR
UINT8
UINT16
UINT32
UINT64
INT8
INT16
INT32
INT64
FLOAT32
FLOAT64
TIME
DURATION
STRING
OTHER

Definition at line 11 of file builtin_types.hpp.

Function Documentation

void RosIntrospection::applyNameTransform	(	const std::vector< SubstitutionRule > &	rules,
		const ROSTypeFlat &	container_source,
		RenamedValues &	renamed_destination
	)

Definition at line 112 of file renamer.cpp.

void RosIntrospection::buildRosFlatType	(	const ROSTypeList &	type_map,
		ROSType	type,
		SString	prefix,
		uint8_t *	buffer_ptr,
		ROSTypeFlat *	flat_container_output,
		const uint32_t	max_array_size
	)

buildRosFlatType is a function that read raw serialized data from a ROS message (generated by a ros bag or a topic) and stored the values of each field in a "flat" container called ROSTypeFlat. For example if you apply this to [geometry_msgs/Pose](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html) the vector ROSTypeFlat::value will contain the following pairs (where ... is the number of that field) :

Pose.Point.x = ...
Pose.Point.y = ...
Pose.Point.z = ...
Pose.Quaternion.x = ...
Pose.Quaternion.y = ...
Pose.Quaternion.z = ...
Pose.Quaternion.w = ...

IMPORTANT: this approach is not meant to be used with use arrays such as maps, point clouds and images. It would require a ridicoulous amount of memory and, franckly, make little sense. For this reason the argument max_array_size is used.

Parameters:

type_map	list of all the ROSMessage already known by the application (built using buildROSTypeMapFromDefinition)
type	The main type that correspond to this serialized data.
prefix	prefix to add to the name (actually, the root of StringTree).
buffer_ptr	Pointer to the first element of the serialized data.
flat_container_output	output. It is recommended to reuse the same object if possible to reduce the amount of memory allocation.
max_array_size	all the vectors that contains more elements than max_array_size will be discarted.

Definition at line 205 of file deserializer.cpp.

void RosIntrospection::buildRosFlatTypeImpl	(	const ROSTypeList &	type_list,
		const ROSType &	type,
		StringTreeLeaf	tree_node,
		uint8_t **	buffer_ptr,
		ROSTypeFlat *	flat_container,
		const uint32_t	max_array_size,
		bool	do_store
	)

Definition at line 42 of file deserializer.cpp.

ROSTypeList RosIntrospection::buildROSTypeMapFromDefinition	(	const std::string &	type_name,
		const std::string &	msg_definition
	)

A single message definition will (most probably) generate myltiple ROSMessage(s). In fact the "child" ROSTypes are parsed as well in a recursive and hierarchical way. To make an example, given as input the [geometry_msgs/Pose](http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html) the result will be a ROSTypeList containing Pose, Point and Quaternion.

Parameters:

type_name	name to give to the main type to be extracted.
msg_definition	text obtained by either: topic_tools::ShapeShifter::getMessageDefinition() rosbag::MessageInstance::getMessageDefinition() ros::message_traits::Definition< __your_type__ >::value()

Returns:: list od ROSMessages extracted by the main type its dependencies.

Definition at line 218 of file parser.cpp.

bool RosIntrospection::FindPattern	(	const std::vector< SString > &	pattern,
		size_t	index,
		const StringTreeNode *	tail,
		const StringTreeNode **	head
	)		`[inline]`

Definition at line 52 of file renamer.cpp.

template<typename T >

BuiltinType RosIntrospection::getType ( )

Definition at line 50 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< bool > ( ) [inline]

Definition at line 55 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< double > ( ) [inline]

Definition at line 68 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< float > ( ) [inline]

Definition at line 67 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< int16_t > ( ) [inline]

Definition at line 58 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< int32_t > ( ) [inline]

Definition at line 59 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< int64_t > ( ) [inline]

Definition at line 60 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< int8_t > ( ) [inline]

Definition at line 57 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< ros::Duration > ( ) [inline]

Definition at line 73 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< ros::Time > ( ) [inline]

Definition at line 72 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< std::string > ( ) [inline]

Definition at line 70 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< uint16_t > ( ) [inline]

Definition at line 63 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< uint32_t > ( ) [inline]

Definition at line 64 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< uint64_t > ( ) [inline]

Definition at line 65 of file builtin_types.hpp.

template<>

BuiltinType RosIntrospection::getType< uint8_t > ( ) [inline]

Definition at line 62 of file builtin_types.hpp.

bool RosIntrospection::isNumberPlaceholder ( const SString & s ) [inline]

Definition at line 42 of file renamer.cpp.

bool RosIntrospection::isSeparator ( const std::string & line ) [inline]

Definition at line 51 of file parser.cpp.

bool RosIntrospection::isSubstitutionPlaceholder ( const SString & s ) [inline]

Definition at line 47 of file renamer.cpp.

std::ostream& RosIntrospection::operator<<	(	std::ostream &	os,
		const BuiltinType &	c
	)		`[inline]`

Definition at line 35 of file builtin_types.hpp.

std::ostream& RosIntrospection::operator<<	(	std::ostream &	os,
		const StringTreeLeaf &	leaf
	)		`[inline]`

Definition at line 138 of file deserializer.hpp.

std::ostream & RosIntrospection::operator<<	(	std::ostream &	s,
		const ROSTypeList &	c
	)

Definition at line 252 of file parser.cpp.

template<typename T >

bool RosIntrospection::operator==	(	const VarNumber &	var,
		const T &	num
	)		`[inline]`

Definition at line 39 of file variant.hpp.

template<typename T >

bool RosIntrospection::operator==	(	const T &	num,
		const VarNumber &	var
	)		`[inline]`

Definition at line 45 of file variant.hpp.

int RosIntrospection::PatternMatchAndIndexPosition	(	const StringTreeLeaf &	leaf,
		const StringTreeNode *	pattern_head
	)

Definition at line 87 of file renamer.cpp.

int RosIntrospection::print_number	(	char *	buffer,
		uint16_t	value
	)		`[inline]`

Definition at line 149 of file deserializer.hpp.

template<typename T >

T RosIntrospection::ReadFromBuffer ( uint8_t ** buffer ) [inline]

Definition at line 125 of file parser.hpp.

SString RosIntrospection::strippedTypeName ( const boost::string_ref & line ) [inline]

Definition at line 62 of file parser.cpp.

const char* RosIntrospection::toStr ( const BuiltinType & c ) [inline]

Definition at line 20 of file builtin_types.hpp.

Variable Documentation

const int RosIntrospection::BuiltinTypeSize[OTHER]

Initial value:

 {
  1, 1, 1,
  1, 2, 4, 8,
  1, 2, 4, 8,
  4, 8,
  8, 8,
  -1
}

Definition at line 41 of file builtin_types.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation