Program Listing for File stamped.hpp
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#ifndef FUSE_VARIABLES__STAMPED_HPP_
#define FUSE_VARIABLES__STAMPED_HPP_
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/node_interfaces/node_interfaces.hpp>
#include <boost/serialization/access.hpp>
#include <rclcpp/time.hpp>
namespace fuse_variables
{
class Stamped
{
public:
FUSE_SMART_PTR_ALIASES_ONLY(Stamped)
Stamped() = default;
explicit Stamped(
const rclcpp::Time & stamp,
const fuse_core::UUID & device_id = fuse_core::uuid::NIL)
: device_id_(device_id),
stamp_(stamp)
{}
virtual ~Stamped() = default;
const rclcpp::Time & stamp() const {return stamp_;}
const fuse_core::UUID & deviceId() const {return device_id_;}
private:
fuse_core::UUID device_id_;
rclcpp::Time stamp_{0, 0, RCL_ROS_TIME};
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & device_id_;
archive & stamp_;
}
};
fuse_core::UUID loadDeviceId(
fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Parameters> interfaces);
} // namespace fuse_variables
#endif // FUSE_VARIABLES__STAMPED_HPP_