Synchronizes up to 9 messages by their timestamps. More...

#include <time_synchronizer.h>

Inheritance diagram for message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 >:

Public Types
typedef Synchronizer< Policy >	Base

typedef boost::shared_ptr< M0 const >	M0ConstPtr

typedef Base::M0Event	M0Event

typedef boost::shared_ptr< M1 const >	M1ConstPtr

typedef Base::M1Event	M1Event

typedef boost::shared_ptr< M2 const >	M2ConstPtr

typedef Base::M2Event	M2Event

typedef boost::shared_ptr< M3 const >	M3ConstPtr

typedef Base::M3Event	M3Event

typedef boost::shared_ptr< M4 const >	M4ConstPtr

typedef Base::M4Event	M4Event

typedef boost::shared_ptr< M5 const >	M5ConstPtr

typedef Base::M5Event	M5Event

typedef boost::shared_ptr< M6 const >	M6ConstPtr

typedef Base::M6Event	M6Event

typedef boost::shared_ptr< M7 const >	M7ConstPtr

typedef Base::M7Event	M7Event

typedef boost::shared_ptr< M8 const >	M8ConstPtr

typedef Base::M8Event	M8Event

typedef sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 >	Policy

Public Types inherited from message_filters::Synchronizer< sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > >
typedef sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > ::Events	Events

typedef mpl::at_c< Messages, 0 >::type	M0

typedef mpl::at_c< Events, 0 >::type	M0Event

typedef mpl::at_c< Messages, 1 >::type	M1

typedef mpl::at_c< Events, 1 >::type	M1Event

typedef mpl::at_c< Messages, 2 >::type	M2

typedef mpl::at_c< Events, 2 >::type	M2Event

typedef mpl::at_c< Messages, 3 >::type	M3

typedef mpl::at_c< Events, 3 >::type	M3Event

typedef mpl::at_c< Messages, 4 >::type	M4

typedef mpl::at_c< Events, 4 >::type	M4Event

typedef mpl::at_c< Messages, 5 >::type	M5

typedef mpl::at_c< Events, 5 >::type	M5Event

typedef mpl::at_c< Messages, 6 >::type	M6

typedef mpl::at_c< Events, 6 >::type	M6Event

typedef mpl::at_c< Messages, 7 >::type	M7

typedef mpl::at_c< Events, 7 >::type	M7Event

typedef mpl::at_c< Messages, 8 >::type	M8

typedef mpl::at_c< Events, 8 >::type	M8Event

typedef sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > ::Messages	Messages

typedef sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > ::Signal	Signal

Public Types inherited from message_filters::sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 >
typedef Super::Events	Events

typedef Super::M0Event	M0Event

typedef Super::M1Event	M1Event

typedef Super::M2Event	M2Event

typedef Super::M3Event	M3Event

typedef Super::M4Event	M4Event

typedef Super::M5Event	M5Event

typedef Super::M6Event	M6Event

typedef Super::M7Event	M7Event

typedef Super::M8Event	M8Event

typedef Super::Messages	Messages

typedef Super::RealTypeCount	RealTypeCount

typedef Super::Signal	Signal

typedef PolicyBase< M0, M1, M2, M3, M4, M5, M6, M7, M8 >	Super

typedef Synchronizer< ExactTime >	Sync

typedef boost::tuple< M0Event, M1Event, M2Event, M3Event, M4Event, M5Event, M6Event, M7Event, M8Event >	Tuple

Public Types inherited from message_filters::PolicyBase< M0, M1, M2, M3, M4, M5, M6, M7, M8 >
typedef mpl::vector< ros::MessageEvent< M0 const >, ros::MessageEvent< M1 const >, ros::MessageEvent< M2 const >, ros::MessageEvent< M3 const >, ros::MessageEvent< M4 const >, ros::MessageEvent< M5 const >, ros::MessageEvent< M6 const >, ros::MessageEvent< M7 const >, ros::MessageEvent< M8 const > >	Events

typedef mpl::at_c< Events, 0 >::type	M0Event

typedef mpl::at_c< Events, 1 >::type	M1Event

typedef mpl::at_c< Events, 2 >::type	M2Event

typedef mpl::at_c< Events, 3 >::type	M3Event

typedef mpl::at_c< Events, 4 >::type	M4Event

typedef mpl::at_c< Events, 5 >::type	M5Event

typedef mpl::at_c< Events, 6 >::type	M6Event

typedef mpl::at_c< Events, 7 >::type	M7Event

typedef mpl::at_c< Events, 8 >::type	M8Event

typedef mpl::vector< M0, M1, M2, M3, M4, M5, M6, M7, M8 >	Messages

typedef mpl::fold< Messages, mpl::int_< 0 >, mpl::if_< mpl::not_< boost::is_same< mpl::_2, NullType > >, mpl::next< mpl::_1 >, mpl::_1 > >::type	RealTypeCount

typedef Signal9< M0, M1, M2, M3, M4, M5, M6, M7, M8 >	Signal

Public Member Functions
void	add0 (const M0ConstPtr &msg)

void	add1 (const M1ConstPtr &msg)

void	add2 (const M2ConstPtr &msg)

void	add3 (const M3ConstPtr &msg)

void	add4 (const M4ConstPtr &msg)

void	add5 (const M5ConstPtr &msg)

void	add6 (const M6ConstPtr &msg)

void	add7 (const M7ConstPtr &msg)

void	add8 (const M8ConstPtr &msg)

template<class F0 , class F1 >
	TimeSynchronizer (F0 &f0, F1 &f1, uint32_t queue_size)

template<class F0 , class F1 , class F2 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 , class F4 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 , class F7 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, uint32_t queue_size)

template<class F0 , class F1 , class F2 , class F3 , class F4 , class F5 , class F6 , class F7 , class F8 >
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8, uint32_t queue_size)

	TimeSynchronizer (uint32_t queue_size)

Public Member Functions inherited from message_filters::Synchronizer< sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > >
void	add (const boost::shared_ptr< typename mpl::at_c< Messages, i >::type const > &msg)

void	connectInput (F0 &f0, F1 &f1)

void	connectInput (F0 &f0, F1 &f1, F2 &f2)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7)

void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8)

const std::string &	getName ()

sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > *	getPolicy ()

void	init ()

Connection	registerCallback (C &callback)

Connection	registerCallback (const C &callback)

Connection	registerCallback (const C &callback, T *t)

Connection	registerCallback (C &callback, T *t)

void	setName (const std::string &name)

void	signal (const M0Event &e0, const M1Event &e1, const M2Event &e2, const M3Event &e3, const M4Event &e4, const M5Event &e5, const M6Event &e6, const M7Event &e7, const M8Event &e8)

	Synchronizer (F0 &f0, F1 &f1)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7)

	Synchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8)

	Synchronizer ()

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy, F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8)

	Synchronizer (const sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > &policy)

	~Synchronizer ()

Public Member Functions inherited from message_filters::sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 >
template<int i>
void	add (const typename mpl::at_c< Events, i >::type &evt)

	ExactTime (uint32_t queue_size)

	ExactTime (const ExactTime &e)

void	initParent (Sync *parent)

ExactTime &	operator= (const ExactTime &rhs)

template<class C >
Connection	registerDropCallback (const C &callback)

template<class C >
Connection	registerDropCallback (C &callback)

template<class C , typename T >
Connection	registerDropCallback (const C &callback, T *t)

template<class C , typename T >
Connection	registerDropCallback (C &callback, T *t)

Additional Inherited Members
Static Public Attributes inherited from message_filters::Synchronizer< sync_policies::ExactTime< M0, M1, M2, M3, M4, M5, M6, M7, M8 > >
static const uint8_t	MAX_MESSAGES

Detailed Description

template<class M0, class M1, class M2 = NullType, class M3 = NullType, class M4 = NullType, class M5 = NullType, class M6 = NullType, class M7 = NullType, class M8 = NullType>
class message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 >

Synchronizes up to 9 messages by their timestamps.

TimeSynchronizer synchronizes up to 9 incoming channels by the timestamps contained in their messages' headers. TimeSynchronizer takes anywhere from 2 to 9 message types as template parameters, and passes them through to a callback which takes a shared pointer of each.

The required queue size parameter when constructing the TimeSynchronizer tells it how many sets of messages it should store (by timestamp) while waiting for messages to arrive and complete their "set"

CONNECTIONS

The input connections for the TimeSynchronizer object is the same signature as for roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<M const>&);

The output connection for the TimeSynchronizer object is dependent on the number of messages being synchronized. For a 3-message synchronizer for example, it would be:

void callback(const boost::shared_ptr<M0 const>&, const boost::shared_ptr<M1 const>&, const boost::shared_ptr<M2 const>&);

USAGE

Example usage would be:

TimeSynchronizer<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> sync_policies(caminfo_sub, limage_sub, rimage_sub, 3);
sync_policies.registerCallback(callback);

The callback is then of the form:

void callback(const sensor_msgs::CameraInfo::ConstPtr&, const sensor_msgs::Image::ConstPtr&, const sensor_msgs::Image::ConstPtr&);

Definition at line 85 of file time_synchronizer.h.