Exact time policy. More...

#include <exact_time.h>

Inheritance diagram for fkie_message_filters::combiner_policies::ExactTime< IOs >:

Public Member Functions
	ExactTime ()
	Constructor. More...

ExactTime &	set_max_age (const ros::Duration &max_age) noexcept
	Set maximum age of any data in the queue. More...

ExactTime &	set_max_queue_size (std::size_t queue_size, const boost::optional< ros::Duration > &max_age=boost::none) noexcept
	Set maximum queue size. More...

Public Member Functions inherited from fkie_message_filters::combiner_policies::PolicyBase< IOs... >
virtual	~PolicyBase ()

Protected Member Functions
template<std::size_t N>
void	add (std::unique_lock< std::mutex > &, const std::tuple_element_t< N, IncomingTuples > &)
	Input function. More...

void	reset () noexcept override
	Reset internal state. More...

Protected Member Functions inherited from fkie_message_filters::combiner_policies::PolicyBase< IOs... >
void	emit (const OutgoingTuple &out)
	Emit data. More...

void	set_emitter_callback (const EmitterCB &) noexcept
	Set output function. More...

Private Types
using	IncomingQueues = std::tuple< std::map< ros::Time, helpers::io_tuple_t< IOs > >... >

Private Member Functions
MaybeOutgoingTuples	try_assemble_output (const ros::Time &time, bool &complete) noexcept

Private Attributes
boost::optional< ros::Duration >	max_age_

std::size_t	max_queue_size_

IncomingQueues	queues_

Friends
template<template< typename... > class, class... >
class	fkie_message_filters::Combiner

Additional Inherited Members
Public Types inherited from fkie_message_filters::combiner_policies::PolicyBase< IOs... >
using	EmitterCB = std::function< void(const OutgoingTuple &)>
	Callback for assembled outputs. More...

using	IncomingTuples = std::tuple< helpers::io_tuple_t< IOs >... >
	Tuple type of incoming data tuples. More...

using	OutgoingTuple = helpers::io_tuple_t< helpers::io_concat_t< IOs... > >
	Combined tuple type for data output. More...

Protected Types inherited from fkie_message_filters::combiner_policies::PolicyBase< IOs... >
using	MaybeOutgoingTuples = std::tuple< boost::optional< helpers::io_tuple_t< IOs > >... >
	Tuple of outgoing tuple candidates. More...

Detailed Description

template<typename... IOs>
class fkie_message_filters::combiner_policies::ExactTime< IOs >

Exact time policy.

This is a policy for the Combiner class. It will associate data from the connected sources when their ROS header timestamp match exactly. If an input source is not unary, only the first argument of each input will be examined to determine the timestamp. It must have an accessible ROS header, which is determined using the ros::message_traits template.

The policy will discard unmatched data which exceeds configurable age limit or overflows the maximum queue size. The resulting timestamps will be strictly increasing if at least one of the inputs receives messages in correct temporal order. Whenever matched data is emitted, all queued inputs with older timestamps will be discarded.

The filter will not output any data at all if the time lag between two inputs is larger than the maximum permissible age, or if the time lag requires more messages to be buffered than the maximum queue size permits. By default, the filter will buffer arbitrary many messages for at most one second.

Definition at line 50 of file exact_time.h.

Member Typedef Documentation

◆ IncomingQueues

template<typename... IOs>

using fkie_message_filters::combiner_policies::ExactTime< IOs >::IncomingQueues = std::tuple<std::map<ros::Time, helpers::io_tuple_t<IOs> >...>

private

Definition at line 92 of file exact_time.h.

Constructor & Destructor Documentation

◆ ExactTime()

template<typename... IOs>

fkie_message_filters::combiner_policies::ExactTime< IOs >::ExactTime ( )

Constructor.

Definition at line 36 of file exact_time_impl.h.

Member Function Documentation

◆ add()

template<typename... IOs>

template<std::size_t N>

void fkie_message_filters::combiner_policies::ExactTime< IOs >::add	(	std::unique_lock< std::mutex > &	lock,
		const std::tuple_element_t< N, IncomingTuples > &	in
	)

protected

Input function.

This function will be called by the Combiner class for incoming data.

Definition at line 59 of file exact_time_impl.h.

◆ reset()

template<typename... IOs>

void fkie_message_filters::combiner_policies::ExactTime< IOs >::reset ( )

overrideprotectedvirtualnoexcept

Reset internal state.

This function is called by the Combiner if the filter is reset.

Implements fkie_message_filters::combiner_policies::PolicyBase< IOs... >.

Definition at line 125 of file exact_time_impl.h.

◆ set_max_age()

template<typename... IOs>

ExactTime< IOs... > & fkie_message_filters::combiner_policies::ExactTime< IOs >::set_max_age ( const ros::Duration & max_age )

noexcept

Set maximum age of any data in the queue.

This is equivalent to

set_max_queue_size(0, max_age);

max_age maximum age

Definition at line 42 of file exact_time_impl.h.

◆ set_max_queue_size()

template<typename... IOs>

ExactTime< IOs... > & fkie_message_filters::combiner_policies::ExactTime< IOs >::set_max_queue_size	(	std::size_t	queue_size,
		const boost::optional< ros::Duration > &	max_age = `boost::none`
	)

noexcept

Set maximum queue size.

queue_size maximum queue size per slot (zero means unlimited)
max_age the maximum age of any data in the queue

Definition at line 50 of file exact_time_impl.h.

◆ try_assemble_output()

template<typename... IOs>

ExactTime< IOs... >::MaybeOutgoingTuples fkie_message_filters::combiner_policies::ExactTime< IOs >::try_assemble_output	(	const ros::Time &	time,
		bool &	complete
	)

privatenoexcept

Definition at line 99 of file exact_time_impl.h.

Friends And Related Function Documentation

◆ fkie_message_filters::Combiner

template<typename... IOs>

template<template< typename... > class, class... >

friend class fkie_message_filters::Combiner

friend

Definition at line 53 of file exact_time.h.

Member Data Documentation

◆ max_age_

template<typename... IOs>

boost::optional<ros::Duration> fkie_message_filters::combiner_policies::ExactTime< IOs >::max_age_

private

Definition at line 95 of file exact_time.h.

◆ max_queue_size_

template<typename... IOs>

std::size_t fkie_message_filters::combiner_policies::ExactTime< IOs >::max_queue_size_

private

Definition at line 96 of file exact_time.h.

◆ queues_

template<typename... IOs>

IncomingQueues fkie_message_filters::combiner_policies::ExactTime< IOs >::queues_

private

Definition at line 94 of file exact_time.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<typename... IOs> class fkie_message_filters::combiner_policies::ExactTime< IOs >

Member Typedef Documentation

◆ IncomingQueues

Constructor & Destructor Documentation

◆ ExactTime()

Member Function Documentation

◆ add()

◆ reset()

◆ set_max_age()

◆ set_max_queue_size()

◆ try_assemble_output()

Friends And Related Function Documentation

◆ fkie_message_filters::Combiner

Member Data Documentation

◆ max_age_

◆ max_queue_size_

◆ queues_

template<typename... IOs>
class fkie_message_filters::combiner_policies::ExactTime< IOs >