#include <server.h>

Inheritance diagram for exotica::Server:

Public Member Functions
robot_model::RobotModelConstPtr	GetModel (const std::string &path, const std::string &urdf="", const std::string &srdf="")
	Get robot model. More...

void	GetModel (const std::string &path, robot_model::RobotModelPtr &model, const std::string &urdf="", const std::string &srdf="")
	Get robot model. More...

std::string	GetName ()
	Get the name of ther server. More...

bool	HasModel (const std::string &path)
	Check if a robot model exist. More...

virtual	~Server ()

Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Static Public Member Functions
template<typename T , typename... Args>
static ros::Publisher	Advertise (Args &&... args)

static void	Destroy ()

static ros::NodeHandle &	GetNodeHandle ()

template<typename T >
static bool	GetParam (const std::string &name, T &param)

static bool	HasParam (const std::string &name)

static void	InitRos (std::shared_ptr< ros::NodeHandle > nh, int numThreads=2)

static std::shared_ptr< Server >	Instance ()
	Get the server. More...

static bool	IsRos ()

static void	SendTransform (const geometry_msgs::TransformStamped &transform)

static void	SendTransform (const std::vector< geometry_msgs::TransformStamped > &transforms)

static void	SendTransform (const std::vector< tf::StampedTransform > &transforms)

static void	SendTransform (const tf::StampedTransform &transform)

template<typename T >
static ros::ServiceClient	ServiceClient (const std::string &service_name, bool persistent=false)

template<typename T >
static void	SetParam (const std::string &name, T &param)

template<typename T , typename... Args>
static ros::Subscriber	Subscribe (Args &&... args)

Private Member Functions
robot_model::RobotModelPtr	LoadModel (const std::string &name, const std::string &urdf="", const std::string &srdf="")

void	operator= (Server const &)=delete

	Server ()

	Server (Server const &)=delete
	Make sure the singleton does not get copied. More...

Private Attributes
std::string	name_
	The name of this server. More...

std::shared_ptr< RosNode >	node_

std::map< std::string, robot_model::RobotModelPtr >	robot_models_
	Robot model cache. More...

Static Private Attributes
static std::shared_ptr< Server >	singleton_server_ = nullptr

Detailed Description

Definition at line 61 of file server.h.

Constructor & Destructor Documentation

◆ ~Server()

exotica::Server::~Server ( )

virtual

Definition at line 53 of file server.cpp.

◆ Server() [1/2]

exotica::Server::Server ( )

private

Definition at line 49 of file server.cpp.

◆ Server() [2/2]

exotica::Server::Server ( Server const & )

privatedelete

Make sure the singleton does not get copied.

Member Function Documentation

◆ Advertise()

template<typename T , typename... Args>

static ros::Publisher exotica::Server::Advertise ( Args &&... args )

inlinestatic

Definition at line 128 of file server.h.

◆ Destroy()

void exotica::Server::Destroy ( )

static

Definition at line 57 of file server.cpp.

◆ GetModel() [1/2]

robot_model::RobotModelConstPtr exotica::Server::GetModel	(	const std::string &	path,
		const std::string &	urdf = `""`,
		const std::string &	srdf = `""`
	)

Get robot model.

Parameters

path	Robot model name

Returns: robot model

Definition at line 140 of file server.cpp.

◆ GetModel() [2/2]

void exotica::Server::GetModel	(	const std::string &	path,
		robot_model::RobotModelPtr &	model,
		const std::string &	urdf = `""`,
		const std::string &	srdf = `""`
	)

Get robot model.

Parameters

path	Robot model name
model	Robot model

Definition at line 128 of file server.cpp.

◆ GetName()

std::string exotica::Server::GetName ( )

Get the name of ther server.

Returns: Server name

Definition at line 157 of file server.cpp.

◆ GetNodeHandle()

static ros::NodeHandle& exotica::Server::GetNodeHandle ( )

inlinestatic

Definition at line 97 of file server.h.

◆ GetParam()

template<typename T >

static bool exotica::Server::GetParam	(	const std::string &	name,
		T &	param
	)

inlinestatic

Definition at line 104 of file server.h.

◆ HasModel()

bool exotica::Server::HasModel ( const std::string & path )

Check if a robot model exist.

Parameters

path	Robot model name

Returns: True if exist, false otherwise

Definition at line 152 of file server.cpp.

◆ HasParam()

static bool exotica::Server::HasParam ( const std::string & name )

inlinestatic

Definition at line 115 of file server.h.

◆ InitRos()

static void exotica::Server::InitRos	(	std::shared_ptr< ros::NodeHandle >	nh,
		int	numThreads = `2`
	)

inlinestatic

Definition at line 91 of file server.h.

◆ Instance()

static std::shared_ptr<Server> exotica::Server::Instance ( )

inlinestatic

Get the server.

Definition at line 65 of file server.h.

◆ IsRos()

static bool exotica::Server::IsRos ( )

inlinestatic

Definition at line 96 of file server.h.

◆ LoadModel()

robot_model::RobotModelPtr exotica::Server::LoadModel	(	const std::string &	name,
		const std::string &	urdf = `""`,
		const std::string &	srdf = `""`
	)

private

Definition at line 80 of file server.cpp.

◆ operator=()

void exotica::Server::operator= ( Server const & )

privatedelete

◆ SendTransform() [1/4]

static void exotica::Server::SendTransform ( const geometry_msgs::TransformStamped & transform )

inlinestatic

Definition at line 157 of file server.h.

◆ SendTransform() [2/4]

static void exotica::Server::SendTransform ( const std::vector< geometry_msgs::TransformStamped > & transforms )

inlinestatic

Definition at line 163 of file server.h.

◆ SendTransform() [3/4]

static void exotica::Server::SendTransform ( const std::vector< tf::StampedTransform > & transforms )

inlinestatic

Definition at line 151 of file server.h.

◆ SendTransform() [4/4]

static void exotica::Server::SendTransform ( const tf::StampedTransform & transform )

inlinestatic

Definition at line 145 of file server.h.

◆ ServiceClient()

template<typename T >

static ros::ServiceClient exotica::Server::ServiceClient	(	const std::string &	service_name,
		bool	persistent = `false`
	)

inlinestatic

Definition at line 140 of file server.h.

◆ SetParam()

template<typename T >

static void exotica::Server::SetParam	(	const std::string &	name,
		T &	param
	)

inlinestatic

Definition at line 110 of file server.h.

◆ Subscribe()

template<typename T , typename... Args>

static ros::Subscriber exotica::Server::Subscribe ( Args &&... args )

inlinestatic

Definition at line 134 of file server.h.

Member Data Documentation

◆ name_

std::string exotica::Server::name_

private

The name of this server.

Definition at line 180 of file server.h.

◆ node_

std::shared_ptr<RosNode> exotica::Server::node_

private

Definition at line 182 of file server.h.

◆ robot_models_

std::map<std::string, robot_model::RobotModelPtr> exotica::Server::robot_models_

private

Robot model cache.

Definition at line 185 of file server.h.

◆ singleton_server_

exotica::ServerPtr exotica::Server::singleton_server_ = nullptr

staticprivate

Definition at line 173 of file server.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~Server()

◆ Server() [1/2]

◆ Server() [2/2]

Member Function Documentation

◆ Advertise()

◆ Destroy()

◆ GetModel() [1/2]

◆ GetModel() [2/2]

◆ GetName()

◆ GetNodeHandle()

◆ GetParam()

◆ HasModel()

◆ HasParam()

◆ InitRos()

◆ Instance()

◆ IsRos()

◆ LoadModel()

◆ operator=()

◆ SendTransform() [1/4]

◆ SendTransform() [2/4]

◆ SendTransform() [3/4]

◆ SendTransform() [4/4]

◆ ServiceClient()

◆ SetParam()

◆ Subscribe()

Member Data Documentation

◆ name_

◆ node_

◆ robot_models_

◆ singleton_server_