ROSaicNodeBase Class Reference

This class is the base class for abstraction. More...

#include <typedefs.hpp>

Inheritance diagram for ROSaicNodeBase:

Public Member Functions
Timestamp	getTime ()
	Gets current timestamp. More...
bool	getUint32Param (const std::string &name, uint32_t &val, uint32_t defaultVal)
	Gets an integer or unsigned integer value from the parameter server. More...
void	log (LogLevel logLevel, const std::string &s)
	Log function to provide abstraction of ROS loggers. More...
template<typename T >
bool	param (const std::string &name, T &val, const T &defaultVal)
	Gets parameter of type T from the parameter server. More...
template<typename M >
void	publishMessage (const std::string &topic, const M &msg)
	Publishing function. More...
void	publishTf (const LocalizationUtmMsg &loc)
	Publishing function for tf. More...
	ROSaicNodeBase ()
virtual	~ROSaicNodeBase ()

Protected Attributes
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...

Private Attributes
uint32_t	queueSize_ = 1
	Publisher queue size. More...
tf2_ros::TransformBroadcaster	tf2Publisher_
	Transform publisher. More...
std::unordered_map< std::string, ros::Publisher >	topicMap_
	Map of topics and publishers. More...

Detailed Description

This class is the base class for abstraction.

Definition at line 160 of file typedefs.hpp.

Constructor & Destructor Documentation

ROSaicNodeBase()

ROSaicNodeBase::ROSaicNodeBase ( )

inline

Definition at line 163 of file typedefs.hpp.

~ROSaicNodeBase()

virtual ROSaicNodeBase::~ROSaicNodeBase ( )

inlinevirtual

Definition at line 167 of file typedefs.hpp.

Member Function Documentation

getTime()

Timestamp ROSaicNodeBase::getTime ( )

inline

Gets current timestamp.

Returns

Timestamp

Definition at line 236 of file typedefs.hpp.

getUint32Param()

bool ROSaicNodeBase::getUint32Param ( const std::string &  name, uint32_t &  val, uint32_t  defaultVal  )

inline

Gets an integer or unsigned integer value from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type U, which can be either unsigned int or int
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Definition at line 177 of file typedefs.hpp.

log()

void ROSaicNodeBase::log ( LogLevel  logLevel, const std::string &  s  )

inline

Log function to provide abstraction of ROS loggers.

Parameters

[in]	logLevel	Log level
[in]	s	String to log

Definition at line 208 of file typedefs.hpp.

param()

template<typename T >

bool ROSaicNodeBase::param ( const std::string &  name, T &  val, const T &  defaultVal  )

inline

Gets parameter of type T from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type T
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Returns

True if it could be retrieved, false if not

Definition at line 198 of file typedefs.hpp.

publishMessage()

template<typename M >

void ROSaicNodeBase::publishMessage ( const std::string &  topic, const M &  msg  )

inline

Publishing function.

Parameters

[in]	topic	String of topic
[in]	msg	ROS message to be published

Definition at line 247 of file typedefs.hpp.

publishTf()

void ROSaicNodeBase::publishTf ( const LocalizationUtmMsg &  loc )

inline

Publishing function for tf.

Parameters

[in]

msg

ROS localization message to be converted to tf

Definition at line 266 of file typedefs.hpp.

Member Data Documentation

pNh_

std::shared_ptr<ros::NodeHandle> ROSaicNodeBase::pNh_

protected

Node handle pointer.

Definition at line 287 of file typedefs.hpp.

queueSize_

uint32_t ROSaicNodeBase::queueSize_ = 1

private

Publisher queue size.

Definition at line 293 of file typedefs.hpp.

tf2Publisher_

tf2_ros::TransformBroadcaster ROSaicNodeBase::tf2Publisher_

private

Transform publisher.

Definition at line 295 of file typedefs.hpp.

topicMap_

std::unordered_map<std::string, ros::Publisher> ROSaicNodeBase::topicMap_

private

Map of topics and publishers.

Definition at line 291 of file typedefs.hpp.

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

• typedefs.hpp