Classes | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
RosLoService Class Reference

#include <RosLoService.h>

Inheritance diagram for RosLoService:
Inheritance graph
[legend]

List of all members.

Classes

class  PubParentFilterStruct

Public Member Functions

bool CallbackRegisterService (vision_srvs::register_jlo_callback::Request &request, vision_srvs::register_jlo_callback::Response &answer)
bool PublishUpdate (unsigned long id, PubParentFilterStruct &obj_to_pub)
 Helper fundction handling the final publishing of updated registered jlos.
 RosLoService (const char *nodename, ros::NodeHandle &n, std::string configFile)
bool ServiceCallback (vision_srvs::srvjlo::Request &request, vision_srvs::srvjlo::Response &answer)
void UpdateEventHandler ()
 this function will wait for update events and publish then a partial lo to specified topics
 ~RosLoService ()

Static Public Member Functions

static void UpdateEventNotifier (unsigned long object_id)
 raises and update event

Private Member Functions

void tf_subscription_callback (const tf::tfMessage::ConstPtr &msg_in_)

Private Attributes

ros::ServiceServer located_object_service
std::map< unsigned long,
PubParentFilterStruct
m_jlotopicMap
std::map< unsigned long,
unsigned long > 
m_parentToRegisteredJlo
std::map< std::string,
ros::Publisher
m_topicPublisherMap
std::set< std::string > tf_blacklist
ros::Subscriber tf_subscription

Static Private Attributes

static std::queue< unsigned long > m_queueOfLosToPublish

Detailed Description

Jennifer's Located Object Copyright (C) 2008, U. Klank

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. class RosLoService Implementation for ros calling the lo-ServiceInterface functionality

Definition at line 42 of file RosLoService.h.


Constructor & Destructor Documentation

RosLoService::RosLoService ( const char *  nodename,
ros::NodeHandle n,
std::string  configFile 
)

Start the service listening to listeningTopic, g_stopAll can stop the loop after next read

Advertise the service that answers to normal lo-quieries

Subscribe to a tf topic and listening to it.

Definition at line 48 of file RosLoService.cpp.

Closing of the ports

Definition at line 94 of file RosLoService.cpp.


Member Function Documentation

Register a callback that wil publish any change on a certain lo id

Parameters:
requestincoming request: topicname and id
answeroutgoing answer: error

Definition at line 548 of file RosLoService.cpp.

bool RosLoService::PublishUpdate ( unsigned long  id,
PubParentFilterStruct obj_to_pub 
)

Helper fundction handling the final publishing of updated registered jlos.

PublishUpdate

Parameters:
idjlo to be published
obj_to_pubobject containing parent id and list of publishers to which the update will be send
returnfalse if the referenced jlo was already deleted

apply filter

Definition at line 425 of file RosLoService.cpp.

Parses a service request and reacts on the input, by generating the answer

Parameters:
requestincoming request: command := {idquery, framequery, update, del, cout}, [id|parentid|matrix, cov,type|name]+
answeroutgoing answer: error, [id, parentid, matrix, cov, type, name]

Definition at line 163 of file RosLoService.cpp.

subscribing to one tf topic to update lowlevel entries

Definition at line 582 of file RosLoService.cpp.

this function will wait for update events and publish then a partial lo to specified topics

UpdateEventHandler

register all parents and map them back to updates of children

Definition at line 500 of file RosLoService.cpp.

void RosLoService::UpdateEventNotifier ( unsigned long  object_id) [static]

raises and update event

UpdateEventNotifier

Definition at line 540 of file RosLoService.cpp.


Member Data Documentation

Definition at line 107 of file RosLoService.h.

Handle call

Definition at line 115 of file RosLoService.h.

std::map<unsigned long, unsigned long> RosLoService::m_parentToRegisteredJlo [private]

Definition at line 116 of file RosLoService.h.

std::queue< unsigned long > RosLoService::m_queueOfLosToPublish [static, private]

Definition at line 118 of file RosLoService.h.

Definition at line 117 of file RosLoService.h.

std::set<std::string> RosLoService::tf_blacklist [private]

Definition at line 108 of file RosLoService.h.

Members to handle tf subscription and main service

Definition at line 106 of file RosLoService.h.


The documentation for this class was generated from the following files:
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jlo
Author(s): Ulrich F Klank
autogenerated on Thu May 23 2013 10:38:09