TopicWithTransform< MsgType > Class Template Reference

This class synchronizes the transform and odometry. More...

#include <topic_with_transform.h>

Public Member Functions
void	subscribe (std::shared_ptr< TopicObserver< MsgType >> obs)
	Registers a topic observer to be notified with sensor data. More...
	TopicWithTransform (ros::NodeHandle nh, const std::string &topic_name, const std::string &target_frame, const double buffer_duration, const double tf_filter_queue_size, const double subscribers_queue_size)

Private Member Functions
void	transformed_msg_cb (const boost::shared_ptr< MsgType > msg)

Private Attributes
std::unique_ptr< tf::MessageFilter< MsgType > >	_msg_flt
std::vector< std::weak_ptr< TopicObserver< MsgType > > >	_observers
message_filters::Subscriber< MsgType >	_subscr
std::string	_target_frame
tf::TransformListener	_tf_lsnr
const uint32_t	FILTER_QUEUE_SZ = 10000
const uint32_t	SUBSCR_QUEUE_SZ = 10000

Detailed Description

template<typename MsgType>
class TopicWithTransform< MsgType >

This class synchronizes the transform and odometry.

Definition at line 36 of file topic_with_transform.h.

Constructor & Destructor Documentation

template<typename MsgType>

TopicWithTransform< MsgType >::TopicWithTransform ( ros::NodeHandle  nh, const std::string &  topic_name, const std::string &  target_frame, const double  buffer_duration, const double  tf_filter_queue_size, const double  subscribers_queue_size  )

inline

Definition at line 44 of file topic_with_transform.h.

Member Function Documentation

template<typename MsgType>

void TopicWithTransform< MsgType >::subscribe ( std::shared_ptr< TopicObserver< MsgType >>  obs )

inline

Registers a topic observer to be notified with sensor data.

Parameters

obs	Pointer to the TopicObserver.

Definition at line 65 of file topic_with_transform.h.

template<typename MsgType>

void TopicWithTransform< MsgType >::transformed_msg_cb ( const boost::shared_ptr< MsgType >  msg )

inlineprivate

Definition at line 73 of file topic_with_transform.h.

Member Data Documentation

template<typename MsgType>

std::unique_ptr<tf::MessageFilter<MsgType> > TopicWithTransform< MsgType >::_msg_flt

private

Definition at line 101 of file topic_with_transform.h.

template<typename MsgType>

std::vector<std::weak_ptr<TopicObserver<MsgType> > > TopicWithTransform< MsgType >::_observers

private

Definition at line 102 of file topic_with_transform.h.

template<typename MsgType>

message_filters::Subscriber<MsgType> TopicWithTransform< MsgType >::_subscr

private

Definition at line 99 of file topic_with_transform.h.

template<typename MsgType>

std::string TopicWithTransform< MsgType >::_target_frame

private

Definition at line 98 of file topic_with_transform.h.

template<typename MsgType>

tf::TransformListener TopicWithTransform< MsgType >::_tf_lsnr

private

Definition at line 100 of file topic_with_transform.h.

template<typename MsgType>

const uint32_t TopicWithTransform< MsgType >::FILTER_QUEUE_SZ = 10000

private

Definition at line 70 of file topic_with_transform.h.

template<typename MsgType>

const uint32_t TopicWithTransform< MsgType >::SUBSCR_QUEUE_SZ = 10000

private

Definition at line 71 of file topic_with_transform.h.

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

• topic_with_transform.h