Public Member Functions | Private Member Functions | Private Attributes | List of all members
tango_ros_native::TangoRosNodelet Class Reference

#include <tango_ros_nodelet.h>

Inheritance diagram for tango_ros_native::TangoRosNodelet:
Inheritance graph
[legend]

Public Member Functions

bool GetAvailableMapUuidsList (std::vector< std::string > &uuid_list)
 
bool GetMapNameFromUuid (const std::string &map_uuid, std::string &map_name)
 
void OnFrameAvailable (TangoCameraId camera_id, const TangoImageBuffer *buffer)
 
void onInit ()
 
void OnPointCloudAvailable (const TangoPointCloud *point_cloud)
 
void OnPoseAvailable (const TangoPoseData *pose)
 
TangoErrorType OnTangoServiceConnected ()
 
void StartPublishing ()
 
void StopPublishing ()
 
void TangoDisconnect ()
 
 TangoRosNodelet ()
 
 ~TangoRosNodelet ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 

Private Member Functions

TangoErrorType ConnectToTangoAndSetUpNode ()
 
void DynamicReconfigureCallback (PublisherConfig &config, uint32_t level)
 
bool GetMapNameServiceCallback (const tango_ros_messages::GetMapName::Request &req, tango_ros_messages::GetMapName::Response &res)
 
bool GetMapUuidsServiceCallback (const tango_ros_messages::GetMapUuids::Request &req, tango_ros_messages::GetMapUuids::Response &res)
 
bool LoadOccupancyGridServiceCallback (const tango_ros_messages::LoadOccupancyGrid::Request &req, tango_ros_messages::LoadOccupancyGrid::Response &res)
 
void PublishColorImage ()
 
void PublishDevicePose ()
 
void PublishFisheyeImage ()
 
void PublishLaserScan ()
 
void PublishMesh ()
 
void PublishPointCloud ()
 
void PublishStaticTransforms ()
 
void RunRosSpin ()
 
bool SaveMapServiceCallback (const tango_ros_messages::SaveMap::Request &req, tango_ros_messages::SaveMap::Response &res)
 
TangoErrorType TangoConnect ()
 
bool TangoConnectServiceCallback (const tango_ros_messages::TangoConnect::Request &request, tango_ros_messages::TangoConnect::Response &response)
 
TangoErrorType TangoSetupConfig ()
 
void UpdateAndPublishTangoStatus (const TangoStatus &status)
 

Private Attributes

std::string area_description_frame_id_
 
geometry_msgs::TransformStamped area_description_T_start_of_service_
 
ros::Publisher area_description_T_start_of_service_publisher_
 
tf::StampedTransform camera_depth_T_laser_
 
sensor_msgs::CameraInfo color_camera_info_
 
std::shared_ptr< camera_info_manager::CameraInfoManager > color_camera_info_manager_
 
image_geometry::PinholeCameraModel color_camera_model_
 
image_transport::CameraPublisher color_camera_publisher_
 
cv::Mat color_image_
 
std_msgs::Header color_image_header_
 
cv::Mat color_image_rect_
 
PublishThread color_image_thread_
 
image_transport::Publisher color_rectified_image_publisher_
 
cv::Mat cv_warp_map_x_
 
cv::Mat cv_warp_map_y_
 
PublishThread device_pose_thread_
 
geometry_msgs::TransformStamped device_T_camera_color_
 
geometry_msgs::TransformStamped device_T_camera_depth_
 
geometry_msgs::TransformStamped device_T_camera_fisheye_
 
bool enable_3dr_mesh_ = true
 
bool enable_3dr_occupancy_grid_ = true
 
bool enable_color_camera_ = true
 
bool enable_depth_ = true
 
bool fisheye_camera_available_ = true
 
sensor_msgs::CameraInfo fisheye_camera_info_
 
std::shared_ptr< camera_info_manager::CameraInfoManager > fisheye_camera_info_manager_
 
image_transport::CameraPublisher fisheye_camera_publisher_
 
cv::Mat fisheye_image_
 
std_msgs::Header fisheye_image_header_
 
cv::Mat fisheye_image_rect_
 
PublishThread fisheye_image_thread_
 
image_transport::Publisher fisheye_rectified_image_publisher_
 
ros::ServiceServer get_map_name_service_
 
ros::ServiceServer get_map_uuids_service_
 
TangoSupport_ImageBufferManager * image_buffer_manager_
 
std::shared_ptr< image_transport::ImageTransport > image_transport_
 
sensor_msgs::LaserScan laser_scan_
 
double laser_scan_max_height_ = 1.0
 
double laser_scan_max_range_ = 4.0
 
double laser_scan_min_height_ = -1.0
 
double laser_scan_min_range_ = 0.3
 
ros::Publisher laser_scan_publisher_
 
PublishThread laser_scan_thread_
 
Tango3DR_Pose last_camera_color_pose_
 
Tango3DR_Pose last_camera_depth_pose_
 
ros::ServiceServer load_occupancy_grid_service_
 
ros::Publisher mesh_marker_publisher_
 
PublishThread mesh_thread_
 
std::atomic_bool new_point_cloud_available_for_t3dr_
 
ros::NodeHandle node_handle_
 
nav_msgs::OccupancyGrid occupancy_grid_
 
ros::Publisher occupancy_grid_publisher_
 
sensor_msgs::PointCloud2 point_cloud_
 
TangoSupport_PointCloudManager * point_cloud_manager_
 
ros::Publisher point_cloud_publisher_
 
PublishThread point_cloud_thread_
 
bool publish_pose_on_tf_ = true
 
std::thread ros_spin_thread_
 
std::atomic_bool run_threads_
 
ros::ServiceServer save_map_service_
 
std::string start_of_service_frame_id_
 
geometry_msgs::TransformStamped start_of_service_T_device_
 
ros::Publisher start_of_service_T_device_publisher_
 
ros::Publisher static_occupancy_grid_publisher_
 
Tango3DR_CameraCalibration t3dr_color_camera_intrinsics_
 
Tango3DR_ReconstructionContext t3dr_context_
 
uint8_t t3dr_occupancy_grid_threshold_
 
double t3dr_resolution_
 
TangoConfig tango_config_
 
ros::ServiceServer tango_connect_service_
 
bool tango_data_available_ = true
 
TangoStatus tango_status_
 
ros::Publisher tango_status_publisher_
 
tf::TransformBroadcaster tf_broadcaster_
 
tf2_ros::StaticTransformBroadcaster tf_static_broadcaster_
 
double time_offset_ = 0.
 
bool use_tf_static_ = true
 

Additional Inherited Members

- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface & getMTCallbackQueue () const
 
ros::NodeHandle & getMTNodeHandle () const
 
ros::NodeHandle & getMTPrivateNodeHandle () const
 
const V_string & getMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandle & getNodeHandle () const
 
ros::NodeHandle & getPrivateNodeHandle () const
 
const M_string & getRemappingArgs () const
 
ros::CallbackQueueInterface & getSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

Detailed Description

Definition at line 128 of file tango_ros_nodelet.h.

Constructor & Destructor Documentation

tango_ros_native::TangoRosNodelet::TangoRosNodelet ( )

Definition at line 258 of file tango_ros_nodelet.cpp.

tango_ros_native::TangoRosNodelet::~TangoRosNodelet ( )

Definition at line 364 of file tango_ros_nodelet.cpp.

Member Function Documentation

TangoErrorType tango_ros_native::TangoRosNodelet::ConnectToTangoAndSetUpNode ( )
private

Definition at line 659 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::DynamicReconfigureCallback ( PublisherConfig &  config,
uint32_t  level 
)
private

Definition at line 1169 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetAvailableMapUuidsList ( std::vector< std::string > &  uuid_list)

Definition at line 1364 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapNameFromUuid ( const std::string &  map_uuid,
std::string &  map_name 
)

Definition at line 1380 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapNameServiceCallback ( const tango_ros_messages::GetMapName::Request &  req,
tango_ros_messages::GetMapName::Response &  res 
)
private

Definition at line 1227 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapUuidsServiceCallback ( const tango_ros_messages::GetMapUuids::Request &  req,
tango_ros_messages::GetMapUuids::Response &  res 
)
private

Definition at line 1233 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::LoadOccupancyGridServiceCallback ( const tango_ros_messages::LoadOccupancyGrid::Request &  req,
tango_ros_messages::LoadOccupancyGrid::Response &  res 
)
private

Definition at line 1307 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnFrameAvailable ( TangoCameraId  camera_id,
const TangoImageBuffer *  buffer 
)

Definition at line 865 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::onInit ( )
virtual

Implements nodelet::Nodelet.

Definition at line 262 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnPointCloudAvailable ( const TangoPointCloud *  point_cloud)

Definition at line 813 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnPoseAvailable ( const TangoPoseData *  pose)

Definition at line 788 of file tango_ros_nodelet.cpp.

TangoErrorType tango_ros_native::TangoRosNodelet::OnTangoServiceConnected ( )

Definition at line 368 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishColorImage ( )
private

Definition at line 1084 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishDevicePose ( )
private

Definition at line 987 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishFisheyeImage ( )
private

Definition at line 1047 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishLaserScan ( )
private

Definition at line 1032 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishMesh ( )
private

Definition at line 1120 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishPointCloud ( )
private

Definition at line 1017 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishStaticTransforms ( )
private

Definition at line 722 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::RunRosSpin ( )
private

Definition at line 1180 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::SaveMapServiceCallback ( const tango_ros_messages::SaveMap::Request &  req,
tango_ros_messages::SaveMap::Response &  res 
)
private

Definition at line 1248 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::StartPublishing ( )

Definition at line 922 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::StopPublishing ( )

Definition at line 939 of file tango_ros_nodelet.cpp.

TangoErrorType tango_ros_native::TangoRosNodelet::TangoConnect ( )
private

Definition at line 598 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::TangoConnectServiceCallback ( const tango_ros_messages::TangoConnect::Request &  request,
tango_ros_messages::TangoConnect::Response &  response 
)
private

Definition at line 1194 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::TangoDisconnect ( )

Definition at line 699 of file tango_ros_nodelet.cpp.

TangoErrorType tango_ros_native::TangoRosNodelet::TangoSetupConfig ( )
private

Definition at line 479 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::UpdateAndPublishTangoStatus ( const TangoStatus &  status)
private

Definition at line 652 of file tango_ros_nodelet.cpp.

Member Data Documentation

std::string tango_ros_native::TangoRosNodelet::area_description_frame_id_
private

Definition at line 237 of file tango_ros_nodelet.h.

geometry_msgs::TransformStamped tango_ros_native::TangoRosNodelet::area_description_T_start_of_service_
private

Definition at line 243 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::area_description_T_start_of_service_publisher_
private

Definition at line 241 of file tango_ros_nodelet.h.

tf::StampedTransform tango_ros_native::TangoRosNodelet::camera_depth_T_laser_
private

Definition at line 246 of file tango_ros_nodelet.h.

sensor_msgs::CameraInfo tango_ros_native::TangoRosNodelet::color_camera_info_
private

Definition at line 273 of file tango_ros_nodelet.h.

std::shared_ptr<camera_info_manager::CameraInfoManager> tango_ros_native::TangoRosNodelet::color_camera_info_manager_
private

Definition at line 274 of file tango_ros_nodelet.h.

image_geometry::PinholeCameraModel tango_ros_native::TangoRosNodelet::color_camera_model_
private

Definition at line 277 of file tango_ros_nodelet.h.

image_transport::CameraPublisher tango_ros_native::TangoRosNodelet::color_camera_publisher_
private

Definition at line 271 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::color_image_
private

Definition at line 276 of file tango_ros_nodelet.h.

std_msgs::Header tango_ros_native::TangoRosNodelet::color_image_header_
private

Definition at line 272 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::color_image_rect_
private

Definition at line 278 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::color_image_thread_
private

Definition at line 218 of file tango_ros_nodelet.h.

image_transport::Publisher tango_ros_native::TangoRosNodelet::color_rectified_image_publisher_
private

Definition at line 275 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::cv_warp_map_x_
private

Definition at line 267 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::cv_warp_map_y_
private

Definition at line 268 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::device_pose_thread_
private

Definition at line 214 of file tango_ros_nodelet.h.

geometry_msgs::TransformStamped tango_ros_native::TangoRosNodelet::device_T_camera_color_
private

Definition at line 248 of file tango_ros_nodelet.h.

geometry_msgs::TransformStamped tango_ros_native::TangoRosNodelet::device_T_camera_depth_
private

Definition at line 245 of file tango_ros_nodelet.h.

geometry_msgs::TransformStamped tango_ros_native::TangoRosNodelet::device_T_camera_fisheye_
private

Definition at line 247 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::enable_3dr_mesh_ = true
private

Definition at line 233 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::enable_3dr_occupancy_grid_ = true
private

Definition at line 234 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::enable_color_camera_ = true
private

Definition at line 232 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::enable_depth_ = true
private

Definition at line 231 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::fisheye_camera_available_ = true
private

Definition at line 235 of file tango_ros_nodelet.h.

sensor_msgs::CameraInfo tango_ros_native::TangoRosNodelet::fisheye_camera_info_
private

Definition at line 263 of file tango_ros_nodelet.h.

std::shared_ptr<camera_info_manager::CameraInfoManager> tango_ros_native::TangoRosNodelet::fisheye_camera_info_manager_
private

Definition at line 264 of file tango_ros_nodelet.h.

image_transport::CameraPublisher tango_ros_native::TangoRosNodelet::fisheye_camera_publisher_
private

Definition at line 261 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::fisheye_image_
private

Definition at line 266 of file tango_ros_nodelet.h.

std_msgs::Header tango_ros_native::TangoRosNodelet::fisheye_image_header_
private

Definition at line 262 of file tango_ros_nodelet.h.

cv::Mat tango_ros_native::TangoRosNodelet::fisheye_image_rect_
private

Definition at line 269 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::fisheye_image_thread_
private

Definition at line 217 of file tango_ros_nodelet.h.

image_transport::Publisher tango_ros_native::TangoRosNodelet::fisheye_rectified_image_publisher_
private

Definition at line 265 of file tango_ros_nodelet.h.

ros::ServiceServer tango_ros_native::TangoRosNodelet::get_map_name_service_
private

Definition at line 296 of file tango_ros_nodelet.h.

ros::ServiceServer tango_ros_native::TangoRosNodelet::get_map_uuids_service_
private

Definition at line 297 of file tango_ros_nodelet.h.

TangoSupport_ImageBufferManager* tango_ros_native::TangoRosNodelet::image_buffer_manager_
private

Definition at line 288 of file tango_ros_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> tango_ros_native::TangoRosNodelet::image_transport_
private

Definition at line 260 of file tango_ros_nodelet.h.

sensor_msgs::LaserScan tango_ros_native::TangoRosNodelet::laser_scan_
private

Definition at line 254 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::laser_scan_max_height_ = 1.0
private

Definition at line 255 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::laser_scan_max_range_ = 4.0
private

Definition at line 257 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::laser_scan_min_height_ = -1.0
private

Definition at line 256 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::laser_scan_min_range_ = 0.3
private

Definition at line 258 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::laser_scan_publisher_
private

Definition at line 253 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::laser_scan_thread_
private

Definition at line 216 of file tango_ros_nodelet.h.

Tango3DR_Pose tango_ros_native::TangoRosNodelet::last_camera_color_pose_
private

Definition at line 289 of file tango_ros_nodelet.h.

Tango3DR_Pose tango_ros_native::TangoRosNodelet::last_camera_depth_pose_
private

Definition at line 287 of file tango_ros_nodelet.h.

ros::ServiceServer tango_ros_native::TangoRosNodelet::load_occupancy_grid_service_
private

Definition at line 299 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::mesh_marker_publisher_
private

Definition at line 280 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::mesh_thread_
private

Definition at line 219 of file tango_ros_nodelet.h.

std::atomic_bool tango_ros_native::TangoRosNodelet::new_point_cloud_available_for_t3dr_
private

Definition at line 222 of file tango_ros_nodelet.h.

ros::NodeHandle tango_ros_native::TangoRosNodelet::node_handle_
private

Definition at line 212 of file tango_ros_nodelet.h.

nav_msgs::OccupancyGrid tango_ros_native::TangoRosNodelet::occupancy_grid_
private

Definition at line 282 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::occupancy_grid_publisher_
private

Definition at line 281 of file tango_ros_nodelet.h.

sensor_msgs::PointCloud2 tango_ros_native::TangoRosNodelet::point_cloud_
private

Definition at line 251 of file tango_ros_nodelet.h.

TangoSupport_PointCloudManager* tango_ros_native::TangoRosNodelet::point_cloud_manager_
private

Definition at line 286 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::point_cloud_publisher_
private

Definition at line 250 of file tango_ros_nodelet.h.

PublishThread tango_ros_native::TangoRosNodelet::point_cloud_thread_
private

Definition at line 215 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::publish_pose_on_tf_ = true
private

Definition at line 229 of file tango_ros_nodelet.h.

std::thread tango_ros_native::TangoRosNodelet::ros_spin_thread_
private

Definition at line 220 of file tango_ros_nodelet.h.

std::atomic_bool tango_ros_native::TangoRosNodelet::run_threads_
private

Definition at line 221 of file tango_ros_nodelet.h.

ros::ServiceServer tango_ros_native::TangoRosNodelet::save_map_service_
private

Definition at line 298 of file tango_ros_nodelet.h.

std::string tango_ros_native::TangoRosNodelet::start_of_service_frame_id_
private

Definition at line 236 of file tango_ros_nodelet.h.

geometry_msgs::TransformStamped tango_ros_native::TangoRosNodelet::start_of_service_T_device_
private

Definition at line 242 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::start_of_service_T_device_publisher_
private

Definition at line 240 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::static_occupancy_grid_publisher_
private

Definition at line 294 of file tango_ros_nodelet.h.

Tango3DR_CameraCalibration tango_ros_native::TangoRosNodelet::t3dr_color_camera_intrinsics_
private

Definition at line 290 of file tango_ros_nodelet.h.

Tango3DR_ReconstructionContext tango_ros_native::TangoRosNodelet::t3dr_context_
private

Definition at line 285 of file tango_ros_nodelet.h.

uint8_t tango_ros_native::TangoRosNodelet::t3dr_occupancy_grid_threshold_
private

Definition at line 292 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::t3dr_resolution_
private

Definition at line 291 of file tango_ros_nodelet.h.

TangoConfig tango_ros_native::TangoRosNodelet::tango_config_
private

Definition at line 211 of file tango_ros_nodelet.h.

ros::ServiceServer tango_ros_native::TangoRosNodelet::tango_connect_service_
private

Definition at line 300 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::tango_data_available_ = true
private

Definition at line 227 of file tango_ros_nodelet.h.

TangoStatus tango_ros_native::TangoRosNodelet::tango_status_
private

Definition at line 225 of file tango_ros_nodelet.h.

ros::Publisher tango_ros_native::TangoRosNodelet::tango_status_publisher_
private

Definition at line 224 of file tango_ros_nodelet.h.

tf::TransformBroadcaster tango_ros_native::TangoRosNodelet::tf_broadcaster_
private

Definition at line 239 of file tango_ros_nodelet.h.

tf2_ros::StaticTransformBroadcaster tango_ros_native::TangoRosNodelet::tf_static_broadcaster_
private

Definition at line 244 of file tango_ros_nodelet.h.

double tango_ros_native::TangoRosNodelet::time_offset_ = 0.
private

Definition at line 228 of file tango_ros_nodelet.h.

bool tango_ros_native::TangoRosNodelet::use_tf_static_ = true
private

Definition at line 230 of file tango_ros_nodelet.h.

The documentation for this class was generated from the following files:

tango_ros_native
Author(s):
autogenerated on Mon Jun 10 2019 15:37:51