Class PoseWriterState

Defined in File pose_writer_state.h

Inheritance Relationships

Base Type

public yasmin::State

Class Documentation

class PoseWriterState : public yasmin::State

Represents a state that creates and serializes a Pose message.

This state creates a geometry_msgs::msg::Pose message, serializes it to a byte array, and stores both the serialized data and the type string in the blackboard.

Public Functions

PoseWriterState(): Constructs a PoseWriterState object.

~PoseWriterState(): Destructs the PoseWriterState object.

void configure() override: Configures the state-local parameters.

std::string execute(yasmin::Blackboard::SharedPtr blackboard)

Executes the Pose writer state logic.

This method creates a Pose message, serializes it, stores the serialized bytes in the blackboard under “pose_bytes”, and stores the type string under “pose_bytes__type”.

Parameters:: blackboard – Shared pointer to the blackboard for state communication.
Returns:: std::string The outcome of the execution: “outcome1”.