interactive_markers::InteractiveMarkerClient Class Reference

#include <interactive_marker_client.h>

Inheritance diagram for interactive_markers::InteractiveMarkerClient:

List of all members.

Classes
struct	CbCollection
Public Types
typedef boost::function< void(const InitConstPtr &) >	InitCallback
typedef visualization_msgs::InteractiveMarkerInitConstPtr	InitConstPtr
typedef boost::function< void(const std::string &) >	ResetCallback
typedef boost::function< void(StatusT, const std::string &, const std::string &) >	StatusCallback
enum	StatusT { OK = 0, WARN = 1, ERROR = 2 }
typedef boost::function< void(const UpdateConstPtr &) >	UpdateCallback
typedef visualization_msgs::InteractiveMarkerUpdateConstPtr	UpdateConstPtr
Public Member Functions
	InteractiveMarkerClient (tf::Transformer &tf, const std::string &target_frame="", const std::string &topic_ns="")
void	processInit (const InitConstPtr &msg)
void	processUpdate (const UpdateConstPtr &msg)
void	setEnableAutocompleteTransparency (bool enable)
void	setInitCb (const InitCallback &cb)
	Set callback for init messages.
void	setResetCb (const ResetCallback &cb)
	Set callback for resetting one server connection.
void	setStatusCb (const StatusCallback &cb)
	Set callback for status updates.
void	setTargetFrame (std::string target_frame)
	Change the target frame and reset the connection.
void	setUpdateCb (const UpdateCallback &cb)
	Set callback for update messages.
void	shutdown ()
	Unsubscribe, clear queues & call reset callbacks.
void	subscribe (std::string topic_ns)
	Subscribe to the topics topic_ns/update and topic_ns/init.
void	update ()
	Update tf info, call callbacks.
	~InteractiveMarkerClient ()
	Will cause a 'reset' call for all server ids.
Private Types
typedef boost::unordered_map < std::string, SingleClientPtr >	M_SingleClient
typedef boost::shared_ptr < SingleClient >	SingleClientPtr
enum	StateT { IDLE, INIT, RUNNING }
Private Member Functions
template<class MsgConstPtrT >
void	process (const MsgConstPtrT &msg)
void	statusCb (StatusT status, const std::string &server_id, const std::string &msg)
void	subscribeInit ()
void	subscribeUpdate ()
Private Attributes
CbCollection	callbacks_
bool	enable_autocomplete_transparency_
ros::Subscriber	init_sub_
int	last_num_publishers_
ros::NodeHandle	nh_
M_SingleClient	publisher_contexts_
boost::mutex	publisher_contexts_mutex_
StateMachine< StateT >	state_
StatusCallback	status_cb_
std::string	target_frame_
tf::Transformer &	tf_
std::string	topic_ns_
ros::Subscriber	update_sub_

---

Detailed Description

Acts as a client to one or multiple Interactive Marker servers. Handles topic subscription, error detection and tf transformations.

The output is an init message followed by a stream of updates for each server. In case of an error (e.g. message loss, tf failure), the connection to the sending server is reset.

All timestamped messages are being transformed into the target frame, while for non-timestamped messages it is ensured that the necessary tf transformation will be available.

Definition at line 67 of file interactive_marker_client.h.

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Member Typedef Documentation

typedef boost::function< void ( const InitConstPtr& ) > interactive_markers::InteractiveMarkerClient::InitCallback

Definition at line 81 of file interactive_marker_client.h.

typedef visualization_msgs::InteractiveMarkerInitConstPtr interactive_markers::InteractiveMarkerClient::InitConstPtr

Definition at line 78 of file interactive_marker_client.h.

typedef boost::unordered_map<std::string, SingleClientPtr> interactive_markers::InteractiveMarkerClient::M_SingleClient [private]

Definition at line 152 of file interactive_marker_client.h.

typedef boost::function< void ( const std::string& ) > interactive_markers::InteractiveMarkerClient::ResetCallback

Definition at line 82 of file interactive_marker_client.h.

typedef boost::shared_ptr<SingleClient> interactive_markers::InteractiveMarkerClient::SingleClientPtr [private]

Definition at line 151 of file interactive_marker_client.h.

typedef boost::function< void ( StatusT, const std::string&, const std::string& ) > interactive_markers::InteractiveMarkerClient::StatusCallback

Definition at line 83 of file interactive_marker_client.h.

typedef boost::function< void ( const UpdateConstPtr& ) > interactive_markers::InteractiveMarkerClient::UpdateCallback

Definition at line 80 of file interactive_marker_client.h.

typedef visualization_msgs::InteractiveMarkerUpdateConstPtr interactive_markers::InteractiveMarkerClient::UpdateConstPtr

Definition at line 77 of file interactive_marker_client.h.

---

Member Enumeration Documentation

enum interactive_markers::InteractiveMarkerClient::StateT [private]

Enumerator:

IDLE
INIT
RUNNING

Definition at line 129 of file interactive_marker_client.h.

enum interactive_markers::InteractiveMarkerClient::StatusT

Enumerator:

OK
WARN
ERROR

Definition at line 71 of file interactive_marker_client.h.

---

Constructor & Destructor Documentation

interactive_markers::InteractiveMarkerClient::InteractiveMarkerClient	(	tf::Transformer &	tf,
		const std::string &	target_frame = "",
		const std::string &	topic_ns = ""
	)

Parameters:

tf	The tf transformer to use.
target_frame	tf frame to transform timestamped messages into.
topic_ns	The topic namespace (will subscribe to topic_ns/update, topic_ns/init)

Definition at line 45 of file interactive_marker_client.cpp.

interactive_markers::InteractiveMarkerClient::~InteractiveMarkerClient

(

)

Will cause a 'reset' call for all server ids.

Definition at line 62 of file interactive_marker_client.cpp.

---

Member Function Documentation

template<class MsgConstPtrT >

void interactive_markers::InteractiveMarkerClient::process

(

const MsgConstPtrT &

msg

)

[private]

Definition at line 169 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::processInit

(

const InitConstPtr &

msg

)

Definition at line 208 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::processUpdate

(

const UpdateConstPtr &

msg

)

Definition at line 213 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::setEnableAutocompleteTransparency

(

bool

enable

)

[inline]

Definition at line 119 of file interactive_marker_client.h.

void interactive_markers::InteractiveMarkerClient::setInitCb

(

const InitCallback &

cb

)

Set callback for init messages.

Definition at line 75 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::setResetCb

(

const ResetCallback &

cb

)

Set callback for resetting one server connection.

Definition at line 85 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::setStatusCb

(

const StatusCallback &

cb

)

Set callback for status updates.

Definition at line 90 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::setTargetFrame

(

std::string

target_frame

)

Change the target frame and reset the connection.

Definition at line 95 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::setUpdateCb

(

const UpdateCallback &

cb

)

Set callback for update messages.

Definition at line 80 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::shutdown

(

)

Unsubscribe, clear queues & call reset callbacks.

Definition at line 114 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::statusCb	(	StatusT	status,
		const std::string &	server_id,
		const std::string &	msg
	)		[private]

Definition at line 273 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::subscribe

(

std::string

topic_ns

)

Subscribe to the topics topic_ns/update and topic_ns/init.

Subscribe to given topic.

Definition at line 68 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::subscribeInit

(

)

[private]

Definition at line 151 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::subscribeUpdate

(

)

[private]

Definition at line 133 of file interactive_marker_client.cpp.

void interactive_markers::InteractiveMarkerClient::update

(

)

Update tf info, call callbacks.

Definition at line 218 of file interactive_marker_client.cpp.

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Member Data Documentation

CbCollection interactive_markers::InteractiveMarkerClient::callbacks_ [private]

Definition at line 199 of file interactive_marker_client.h.

bool interactive_markers::InteractiveMarkerClient::enable_autocomplete_transparency_ [private]

Definition at line 208 of file interactive_marker_client.h.

ros::Subscriber interactive_markers::InteractiveMarkerClient::init_sub_ [private]

Definition at line 141 of file interactive_marker_client.h.

int interactive_markers::InteractiveMarkerClient::last_num_publishers_ [private]

Definition at line 205 of file interactive_marker_client.h.

ros::NodeHandle interactive_markers::InteractiveMarkerClient::nh_ [private]

Definition at line 127 of file interactive_marker_client.h.

M_SingleClient interactive_markers::InteractiveMarkerClient::publisher_contexts_ [private]

Definition at line 153 of file interactive_marker_client.h.

boost::mutex interactive_markers::InteractiveMarkerClient::publisher_contexts_mutex_ [private]

Definition at line 154 of file interactive_marker_client.h.

StateMachine<StateT> interactive_markers::InteractiveMarkerClient::state_ [private]

Definition at line 136 of file interactive_marker_client.h.

StatusCallback interactive_markers::InteractiveMarkerClient::status_cb_ [private]

Definition at line 202 of file interactive_marker_client.h.

std::string interactive_markers::InteractiveMarkerClient::target_frame_ [private]

Definition at line 157 of file interactive_marker_client.h.

tf::Transformer& interactive_markers::InteractiveMarkerClient::tf_ [private]

Definition at line 156 of file interactive_marker_client.h.

std::string interactive_markers::InteractiveMarkerClient::topic_ns_ [private]

Definition at line 138 of file interactive_marker_client.h.

ros::Subscriber interactive_markers::InteractiveMarkerClient::update_sub_ [private]

Definition at line 140 of file interactive_marker_client.h.

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

• interactive_marker_client.h
• interactive_marker_client.cpp