Classes
class	BindSubscriberImpl

class	DynamicParameters

struct	DynamicValue

class	ImplRoot

class	LatchedSubscriber

class	NodeHandle

class	OptionalDiagnosedPublisher

class	OptionalSubscriber

class	OptionalSubscriberImpl

class	OptionalSubscriberImplRoot

class	ServiceServer

class	ServiceServerImpl

class	ServiceServerStatistics

class	StorageSubscriberImpl

class	Subscriber

class	SubscriberImpl

class	Timer

class	TimerImpl

class	TopicServiceClient

class	TopicServiceClientImpl

class	TopicServiceServer

class	TopicServiceServerImpl

struct	TrueType

struct	TypedParam

class	TypedServiceServerImpl

class	TypedSubscriberImpl

class	TypedTimerImpl

Typedefs
typedef TypedParam< bool >	BoolParam

typedef TypedParam< double >	DoubleParam

typedef TypedParam< float >	FloatParam

typedef TypedParam< int >	IntParam

typedef TypedParam< std::string >	StringParam

Functions
template<typename M >
ros::Publisher	advertise (ros::NodeHandle &nh, const std::string name, uint32_t queue_size, bool latched=false)

template<typename M >
ros::Publisher	advertise (swri::NodeHandle &nh, const std::string name, uint32_t queue_size, bool latched, const std::string description)

template<typename M >
ros::Publisher	advertise (swri::NodeHandle &nh, const std::string name, uint32_t queue_size, const char *description)

template<class MReq , class MRes , class T >
swri::ServiceServer	advertiseService (swri::NodeHandle &nh, const std::string &service, bool(T::srv_func)(const std::string &, const MReq &, MRes &), T obj, const std::string description)

template<class MReq , class MRes , class T >
swri::ServiceServer	advertiseService (swri::NodeHandle &nh, const std::string &service, bool(T::srv_func)(MReq &, MRes &), T obj, const std::string description)

template<class MReq , class MRes , class T >
swri::ServiceServer	advertiseService (swri::NodeHandle &nh, const std::string &service, bool(T::srv_func)(ros::ServiceEvent< MReq, MRes > &), T obj, const std::string description)

int	comparePrefix (std::string const &string, std::string const &prefix)

static bool	getParam (const ros::NodeHandle &nh, const std::string &name, bool &variable)

static bool	getParam (const ros::NodeHandle &nh, const std::string &name, double &variable)

static bool	getParam (const ros::NodeHandle &nh, const std::string &name, float &variable)

static bool	getParam (const ros::NodeHandle &nh, const std::string &name, int &variable)

static bool	getParam (const ros::NodeHandle &nh, const std::string &name, std::string &variable)

template<typename T >
bool	getParam (swri::NodeHandle &nh, const std::string name, T &value, const std::string description)

static std::vector< std::string >	getUnusedParamKeys (ros::NodeHandle const &n)

bool	isPrefixOf (std::string const &string, std::string const &prefix)

static void	param (const ros::NodeHandle &nh, const std::string &name, bool &variable, const bool default_value)

static void	param (const ros::NodeHandle &nh, const std::string &name, double &variable, const double default_value)

static void	param (const ros::NodeHandle &nh, const std::string &name, float &variable, const float default_value)

static void	param (const ros::NodeHandle &nh, const std::string &name, int &variable, const int default_value)

static void	param (const ros::NodeHandle &nh, const std::string &name, std::string &variable, const std::string default_value)

void	param (swri::NodeHandle &nh, const std::string name, std::string &value, const std::string def, const std::string description)

template<typename T >
void	param (swri::NodeHandle &nh, const std::string name, T &value, const T def)

template<typename T >
void	param (swri::NodeHandle &nh, const std::string name, T &value, const T def, const std::string description)

int	prefixLessThan (std::string const &string, std::string const &prefix)

void	ranged_param (swri::NodeHandle &nh, const std::string name, double &value, const double def, const std::string description="", const double min=-std::numeric_limits< double >::infinity(), const double max=std::numeric_limits< double >::infinity())

template<typename T >
void	setParam (swri::NodeHandle &nh, const std::string &name, T &value)

template<class M >
swri::Subscriber	subscribe (swri::NodeHandle &nh, const std::string &name, boost::shared_ptr< M const > *dest, const std::string description, const ros::TransportHints &transport_hints=ros::TransportHints())

template<class M , class T >
swri::Subscriber	subscribe (swri::NodeHandle &nh, const std::string &name, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const std::string description, const ros::TransportHints &transport_hints=ros::TransportHints())

void	timeoutParam (swri::NodeHandle &nh, swri::Subscriber &sub, const std::string name, const double timeout, const std::string desc)

static void	warnUnusedParams (ros::NodeHandle const &n)

Variables
static std::set< std::string >	_used_params

Typedef Documentation

◆ BoolParam

typedef TypedParam<bool> swri::BoolParam

Definition at line 121 of file dynamic_parameters.h.

◆ DoubleParam

typedef TypedParam<double> swri::DoubleParam

Definition at line 118 of file dynamic_parameters.h.

◆ FloatParam

typedef TypedParam<float> swri::FloatParam

Definition at line 119 of file dynamic_parameters.h.

◆ IntParam

typedef TypedParam<int> swri::IntParam

Definition at line 120 of file dynamic_parameters.h.

◆ StringParam

typedef TypedParam<std::string> swri::StringParam

Definition at line 122 of file dynamic_parameters.h.

Function Documentation

◆ advertise() [1/3]

template<typename M >

ros::Publisher swri::advertise	(	ros::NodeHandle &	nh,
		const std::string	name,
		uint32_t	queue_size,
		bool	latched = `false`
	)

Definition at line 37 of file publisher.h.

◆ advertise() [2/3]

template<typename M >

ros::Publisher swri::advertise	(	swri::NodeHandle &	nh,
		const std::string	name,
		uint32_t	queue_size,
		bool	latched,
		const std::string	description
	)

Definition at line 1223 of file node_handle.h.

◆ advertise() [3/3]

template<typename M >

ros::Publisher swri::advertise	(	swri::NodeHandle &	nh,
		const std::string	name,
		uint32_t	queue_size,
		const char *	description
	)

Definition at line 1233 of file node_handle.h.

◆ advertiseService() [1/3]

template<class MReq , class MRes , class T >

swri::ServiceServer swri::advertiseService	(	swri::NodeHandle &	nh,
		const std::string &	service,
		bool(T::*)(const std::string &, const MReq &, MRes &)	srv_func,
		T *	obj,
		const std::string	description
	)

Definition at line 1285 of file node_handle.h.

◆ advertiseService() [2/3]

template<class MReq , class MRes , class T >

swri::ServiceServer swri::advertiseService	(	swri::NodeHandle &	nh,
		const std::string &	service,
		bool(T::*)(MReq &, MRes &)	srv_func,
		T *	obj,
		const std::string	description
	)

Definition at line 1265 of file node_handle.h.

◆ advertiseService() [3/3]

template<class MReq , class MRes , class T >

swri::ServiceServer swri::advertiseService	(	swri::NodeHandle &	nh,
		const std::string &	service,
		bool(T::*)(ros::ServiceEvent< MReq, MRes > &)	srv_func,
		T *	obj,
		const std::string	description
	)

Definition at line 1275 of file node_handle.h.

◆ comparePrefix()

int swri::comparePrefix	(	std::string const &	string,
		std::string const &	prefix
	)

inline

Determines whether prefix is a prefix of string.

Parameters

string	The longer string to check, which may begin with the characters of `prefix`.
prefix	The shorter string, which may be a prefix of `string`.

Returns: 0 if the first n characters of string are identical to prefix, where n is the length of prefix. 1 or -1 otherwise, according to the conventions of std::string::compare()

Definition at line 172 of file parameters.h.

◆ getParam() [1/6]

static bool swri::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		bool &	variable
	)

inlinestatic

Definition at line 86 of file parameters.h.

◆ getParam() [2/6]

static bool swri::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		double &	variable
	)

inlinestatic

Definition at line 38 of file parameters.h.

◆ getParam() [3/6]

static bool swri::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		float &	variable
	)

inlinestatic

Definition at line 54 of file parameters.h.

◆ getParam() [4/6]

static bool swri::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		int &	variable
	)

inlinestatic

Definition at line 22 of file parameters.h.

◆ getParam() [5/6]

static bool swri::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		std::string &	variable
	)

inlinestatic

Definition at line 70 of file parameters.h.

◆ getParam() [6/6]

template<typename T >

bool swri::getParam	(	swri::NodeHandle &	nh,
		const std::string	name,
		T &	value,
		const std::string	description
	)

Definition at line 1200 of file node_handle.h.

◆ getUnusedParamKeys()

static std::vector<std::string> swri::getUnusedParamKeys ( ros::NodeHandle const & n )

inlinestatic

Gets the list of parameters on the parameter server in the namespace of NodeHandle n that have not yet been got using any of the swri::param() or swri::getParam() functions.

The parameter keys are filtered by prefix, so if there exists a parameter /foo/bar/baz and parameter /foo/bar has been got, then /foo/bar/baz will not be returned as an unused parameter.

Note that this function has no way of knowing about parameters got using the ros::param() and ros::getParam() functions.

Parameters

n	Nodehandle defining the namespace to restrict the list

Returns: A vector of fully-qualified parameter names in n's namespace that haven't been got.

Definition at line 224 of file parameters.h.

◆ isPrefixOf()

bool swri::isPrefixOf	(	std::string const &	string,
		std::string const &	prefix
	)

inline

Boolean wrapper around comparePrefix.

Parameters

string	The longer string to check, which may begin with the characters of `prefix`.
prefix	The shorter string, which may be a prefix of `string`.

Returns: True if the first n characters of string are identical to prefix, where n is the length of prefix, false otherwise.

Definition at line 186 of file parameters.h.

◆ param() [1/8]

static void swri::param	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		bool &	variable,
		const bool	default_value
	)

inlinestatic

Definition at line 151 of file parameters.h.

◆ param() [2/8]

static void swri::param	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		double &	variable,
		const double	default_value
	)

inlinestatic

Definition at line 114 of file parameters.h.

◆ param() [3/8]

static void swri::param	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		float &	variable,
		const float	default_value
	)

inlinestatic

Definition at line 126 of file parameters.h.

◆ param() [4/8]

static void swri::param	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		int &	variable,
		const int	default_value
	)

inlinestatic

Definition at line 102 of file parameters.h.

◆ param() [5/8]

static void swri::param	(	const ros::NodeHandle &	nh,
		const std::string &	name,
		std::string &	variable,
		const std::string	default_value
	)

inlinestatic

Definition at line 139 of file parameters.h.

◆ param() [6/8]

void swri::param	(	swri::NodeHandle &	nh,
		const std::string	name,
		std::string &	value,
		const std::string	def,
		const std::string	description
	)

inline

Definition at line 1159 of file node_handle.h.

◆ param() [7/8]

template<typename T >

void swri::param	(	swri::NodeHandle &	nh,
		const std::string	name,
		T &	value,
		const T	def
	)

Definition at line 1180 of file node_handle.h.

◆ param() [8/8]

template<typename T >

void swri::param	(	swri::NodeHandle &	nh,
		const std::string	name,
		T &	value,
		const T	def,
		const std::string	description
	)

Definition at line 1189 of file node_handle.h.

◆ prefixLessThan()

int swri::prefixLessThan	(	std::string const &	string,
		std::string const &	prefix
	)

inline

Less-than wrapper around comparePrefix, for algorithms that require a less-than comparator, such as sorting.

Parameters

string	The longer string to check, which may begin with the characters of `prefix`.
prefix	The shorter string, which may be a prefix of `string`.

Returns: True if the first n characters of string are "less than" the first n to prefix, where n is the length of prefix, according to the conventions of std::string::compare(). False otherwise.

Definition at line 202 of file parameters.h.

◆ ranged_param()

void swri::ranged_param	(	swri::NodeHandle &	nh,
		const std::string	name,
		double &	value,
		const double	def,
		const std::string	description = `""`,
		const double	min = `-std::numeric_limits<double>::infinity()`,
		const double	max = `std::numeric_limits<double>::infinity()`
	)

inline

Definition at line 1168 of file node_handle.h.

◆ setParam()

template<typename T >

void swri::setParam	(	swri::NodeHandle &	nh,
		const std::string &	name,
		T &	value
	)

Definition at line 1214 of file node_handle.h.

◆ subscribe() [1/2]

template<class M >

swri::Subscriber swri::subscribe	(	swri::NodeHandle &	nh,
		const std::string &	name,
		boost::shared_ptr< M const > *	dest,
		const std::string	description,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)

Definition at line 1255 of file node_handle.h.

◆ subscribe() [2/2]

template<class M , class T >

swri::Subscriber swri::subscribe	(	swri::NodeHandle &	nh,
		const std::string &	name,
		uint32_t	queue_size,
		void(T::*)(const boost::shared_ptr< M const > &)	fp,
		T *	obj,
		const std::string	description,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)

Definition at line 1243 of file node_handle.h.

◆ timeoutParam()

void swri::timeoutParam	(	swri::NodeHandle &	nh,
		swri::Subscriber &	sub,
		const std::string	name,
		const double	timeout,
		const std::string	desc
	)

inline

Definition at line 1294 of file node_handle.h.

◆ warnUnusedParams()

static void swri::warnUnusedParams ( ros::NodeHandle const & n )

inlinestatic

Wrapper around getUnusedParamKeys that emits a warning for every unused parameter

Parameters

n	Nodehandle defining the namespace to restrict the list

Definition at line 267 of file parameters.h.

Variable Documentation

◆ _used_params

std::set<std::string> swri::_used_params

static

This set stores all of the parameters that have been got with this library It is used for the getUnusedParamKeys and WarnUnusedParams functions

Definition at line 19 of file parameters.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ BoolParam

◆ DoubleParam

◆ FloatParam

◆ IntParam

◆ StringParam

Function Documentation

◆ advertise() [1/3]

◆ advertise() [2/3]

◆ advertise() [3/3]

◆ advertiseService() [1/3]

◆ advertiseService() [2/3]

◆ advertiseService() [3/3]

◆ comparePrefix()

◆ getParam() [1/6]

◆ getParam() [2/6]

◆ getParam() [3/6]

◆ getParam() [4/6]

◆ getParam() [5/6]

◆ getParam() [6/6]

◆ getUnusedParamKeys()

◆ isPrefixOf()

◆ param() [1/8]

◆ param() [2/8]

◆ param() [3/8]

◆ param() [4/8]

◆ param() [5/8]

◆ param() [6/8]

◆ param() [7/8]

◆ param() [8/8]

◆ prefixLessThan()

◆ ranged_param()

◆ setParam()

◆ subscribe() [1/2]

◆ subscribe() [2/2]

◆ timeoutParam()

◆ warnUnusedParams()

Variable Documentation

◆ _used_params