fuse_models::Twist2D Class Reference

An adapter-type sensor that produces absolute velocity constraints from information published by another node. More...

#include <twist_2d.h>

Inheritance diagram for fuse_models::Twist2D:

Public Types
using	ParameterType = parameters::Twist2DParams

Public Member Functions
	FUSE_SMART_PTR_DEFINITIONS (Twist2D)
void	process (const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg)
	Callback for twist messages. More...
	Twist2D ()
	Default constructor. More...
virtual	~Twist2D ()=default
	Destructor. More...
Public Member Functions inherited from fuse_core::AsyncSensorModel
	FUSE_SMART_PTR_ALIASES_ONLY (AsyncSensorModel)
void	graphCallback (Graph::ConstSharedPtr graph) override
void	initialize (const std::string &name, TransactionCallback transaction_callback) override
const std::string &	name () const override
void	sendTransaction (Transaction::SharedPtr transaction)
void	start () override
void	stop () override
virtual	~AsyncSensorModel ()=default
Public Member Functions inherited from fuse_core::SensorModel
	FUSE_SMART_PTR_ALIASES_ONLY (SensorModel)
virtual	~SensorModel ()=default

Protected Types
using	TwistThrottledCallback = fuse_core::ThrottledMessageCallback< geometry_msgs::TwistWithCovarianceStamped >

Protected Member Functions
void	onInit () override
	Loads ROS parameters and subscribes to the parameterized topic. More...
void	onStart () override
	Subscribe to the input topic to start sending transactions to the optimizer. More...
void	onStop () override
	Unsubscribe from the input topic to stop sending transactions to the optimizer. More...
Protected Member Functions inherited from fuse_core::AsyncSensorModel
	AsyncSensorModel (size_t thread_count=1)
virtual void	onGraphUpdate (Graph::ConstSharedPtr)
Protected Member Functions inherited from fuse_core::SensorModel
	SensorModel ()=default

Protected Attributes
fuse_core::UUID	device_id_
	The UUID of this device. More...
ParameterType	params_
ros::Subscriber	subscriber_
tf2_ros::Buffer	tf_buffer_
tf2_ros::TransformListener	tf_listener_
TwistThrottledCallback	throttled_callback_
Protected Attributes inherited from fuse_core::AsyncSensorModel
ros::CallbackQueue	callback_queue_
std::string	name_
ros::NodeHandle	node_handle_
ros::NodeHandle	private_node_handle_
ros::AsyncSpinner	spinner_
TransactionCallback	transaction_callback_

Detailed Description

An adapter-type sensor that produces absolute velocity constraints from information published by another node.

This sensor subscribes to a geometry_msgs::TwistWithCovarianceStamped topic and converts each received message into two absolute velocity constraints (one for linear velocity, and one for angular).

Parameters:

• device_id (uuid string, default: 00000000-0000-0000-0000-000000000000) The device/robot ID to publish
• device_name (string) Used to generate the device/robot ID if the device_id is not provided
• queue_size (int, default: 10) The subscriber queue size for the twist messages
• topic (string) The topic to which to subscribe for the twist messages

Subscribes:

• topic (geometry_msgs::TwistWithCovarianceStamped) Absolute velocity information at a given timestamp

Definition at line 66 of file twist_2d.h.

Member Typedef Documentation

ParameterType

using fuse_models::Twist2D::ParameterType = parameters::Twist2DParams

Definition at line 70 of file twist_2d.h.

TwistThrottledCallback

using fuse_models::Twist2D::TwistThrottledCallback = fuse_core::ThrottledMessageCallback<geometry_msgs::TwistWithCovarianceStamped>

protected

Definition at line 114 of file twist_2d.h.

Constructor & Destructor Documentation

Twist2D()

fuse_models::Twist2D::Twist2D

(

)

Default constructor.

Definition at line 51 of file twist_2d.cpp.

~Twist2D()

virtual fuse_models::Twist2D::~Twist2D ( )

virtualdefault

Destructor.

Member Function Documentation

FUSE_SMART_PTR_DEFINITIONS()

fuse_models::Twist2D::FUSE_SMART_PTR_DEFINITIONS

(

Twist2D

)

onInit()

void fuse_models::Twist2D::onInit ( )

overrideprotectedvirtual

Loads ROS parameters and subscribes to the parameterized topic.

Reimplemented from fuse_core::AsyncSensorModel.

Definition at line 59 of file twist_2d.cpp.

onStart()

void fuse_models::Twist2D::onStart ( )

overrideprotectedvirtual

Subscribe to the input topic to start sending transactions to the optimizer.

Reimplemented from fuse_core::AsyncSensorModel.

Definition at line 77 of file twist_2d.cpp.

onStop()

void fuse_models::Twist2D::onStop ( )

overrideprotectedvirtual

Unsubscribe from the input topic to stop sending transactions to the optimizer.

Reimplemented from fuse_core::AsyncSensorModel.

Definition at line 88 of file twist_2d.cpp.

process()

void fuse_models::Twist2D::process

(

const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &

msg

)

Callback for twist messages.

Parameters

[in]

msg

- The twist message to process

Definition at line 93 of file twist_2d.cpp.

Member Data Documentation

device_id_

fuse_core::UUID fuse_models::Twist2D::device_id_

protected

The UUID of this device.

Definition at line 89 of file twist_2d.h.

params_

ParameterType fuse_models::Twist2D::params_

protected

Definition at line 106 of file twist_2d.h.

subscriber_

ros::Subscriber fuse_models::Twist2D::subscriber_

protected

Definition at line 112 of file twist_2d.h.

tf_buffer_

tf2_ros::Buffer fuse_models::Twist2D::tf_buffer_

protected

Definition at line 108 of file twist_2d.h.

tf_listener_

tf2_ros::TransformListener fuse_models::Twist2D::tf_listener_

protected

Definition at line 110 of file twist_2d.h.

throttled_callback_

TwistThrottledCallback fuse_models::Twist2D::throttled_callback_

protected

Definition at line 115 of file twist_2d.h.

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

• twist_2d.h
• twist_2d.cpp