VelocityDispatcher.cpp File Reference

#include <iostream>
#include <boost/thread.hpp>
#include <boost/foreach.hpp>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/Int32.h>

Include dependency graph for VelocityDispatcher.cpp:

Go to the source code of this file.

Defines
#define	foreach   BOOST_FOREACH
Functions
void	createSubscribersAndPublishers (NodeHandle &node, map< string, string > &inputs, vector< string > &outputs)
int	main (int argc, char **argv)
void	onInputVelocityMessage (const geometry_msgs::Twist::ConstPtr velocityMessage, int inputId)
void	onSetInputMessage (const std_msgs::Int32::ConstPtr inputIdMessage)
void	onSetOutputMessage (const std_msgs::Int32::ConstPtr outputIdMessage)
void	publishStatus (TimerEvent timerEvent)
void	publishVelocity ()
bool	setupInputOutput (NodeHandle &node)
Variables
int	_currentInput
Publisher	_currentInputPublisher
int	_currentOutput
Publisher	_currentOutputPublisher
geometry_msgs::Twist	_currentVelocity
volatile bool	_enableOutput
vector< Subscriber >	_inputs
vector< Publisher >	_outputs
Subscriber	_setInputSubscriber
Subscriber	_setOutputSubscriber
Timer	_statusPublishTimer
boost::thread *	_velocityPublishThread

---

Define Documentation

#define foreach   BOOST_FOREACH

Definition at line 40 of file VelocityDispatcher.cpp.

---

Function Documentation

void createSubscribersAndPublishers	(	NodeHandle &	node,
		map< string, string > &	inputs,
		vector< string > &	outputs
	)

Inputs

Outputs

Control

Status

Publishing threads & timers

Definition at line 118 of file VelocityDispatcher.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 195 of file VelocityDispatcher.cpp.

void onInputVelocityMessage	(	const geometry_msgs::Twist::ConstPtr	velocityMessage,
		int	inputId
	)

Definition at line 89 of file VelocityDispatcher.cpp.

void onSetInputMessage

(

const std_msgs::Int32::ConstPtr

inputIdMessage

)

Definition at line 69 of file VelocityDispatcher.cpp.

void onSetOutputMessage

(

const std_msgs::Int32::ConstPtr

outputIdMessage

)

Definition at line 76 of file VelocityDispatcher.cpp.

void publishStatus

(

TimerEvent

timerEvent

)

Definition at line 98 of file VelocityDispatcher.cpp.

void publishVelocity

(

)

Definition at line 108 of file VelocityDispatcher.cpp.

bool setupInputOutput

(

NodeHandle &

node

)

Definition at line 162 of file VelocityDispatcher.cpp.

---

Variable Documentation

int _currentInput

Definition at line 48 of file VelocityDispatcher.cpp.

Publisher _currentInputPublisher

Definition at line 57 of file VelocityDispatcher.cpp.

int _currentOutput

Definition at line 49 of file VelocityDispatcher.cpp.

Publisher _currentOutputPublisher

Definition at line 58 of file VelocityDispatcher.cpp.

geometry_msgs::Twist _currentVelocity

Definition at line 63 of file VelocityDispatcher.cpp.

volatile bool _enableOutput

Definition at line 46 of file VelocityDispatcher.cpp.

vector<Subscriber> _inputs

Definition at line 51 of file VelocityDispatcher.cpp.

vector<Publisher> _outputs

Definition at line 52 of file VelocityDispatcher.cpp.

Subscriber _setInputSubscriber

Definition at line 54 of file VelocityDispatcher.cpp.

Subscriber _setOutputSubscriber

Definition at line 55 of file VelocityDispatcher.cpp.

Timer _statusPublishTimer

Definition at line 61 of file VelocityDispatcher.cpp.

boost::thread* _velocityPublishThread

Definition at line 60 of file VelocityDispatcher.cpp.