cmd_vel_subscribers.hpp
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00001 
00009 /*****************************************************************************
00010 ** Ifdefs
00011 *****************************************************************************/
00012 
00013 #ifndef YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_
00014 #define YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_
00015 
00016 /*****************************************************************************
00017 ** Includes
00018 *****************************************************************************/
00019 
00020 #include <ros/ros.h>
00021 #include <geometry_msgs/Twist.h>
00022 #include <yaml-cpp/yaml.h>
00023 
00024 #ifdef HAVE_NEW_YAMLCPP
00025 // The >> operator disappeared in yaml-cpp 0.5, so this function is
00026 // added to provide support for code written under the yaml-cpp 0.3 API.
00027 template<typename T>
00028 void operator >> (const YAML::Node& node, T& i)
00029 {
00030   i = node.as<T>();
00031 }
00032 #endif
00033 
00034 /*****************************************************************************
00035 ** Preprocessing
00036 *****************************************************************************/
00037 
00038 // move to a static const?
00039 #define VACANT  std::numeric_limits<unsigned int>::max()
00040 
00041 /*****************************************************************************
00042 ** Namespaces
00043 *****************************************************************************/
00044 
00045 namespace yocs_cmd_vel_mux {
00046 
00047 /*****************************************************************************
00048 ** CmdVelSubscribers
00049 *****************************************************************************/
00050 
00054 class CmdVelSubscribers
00055 {
00056 public:
00057 
00061   class CmdVelSubs
00062   {
00063   public:
00064     unsigned int           idx;          
00065     std::string            name;         
00066     ros::Subscriber        subs;         
00067     std::string            topic;        
00068     ros::Timer             timer;        
00069     double                 timeout;      
00070     unsigned int           priority;     
00071     std::string            short_desc;   
00072     bool                   active;       
00074     CmdVelSubs(unsigned int idx) : idx(idx), active(false) {};
00075 
00076     void operator << (const YAML::Node& node);
00077   };
00078 
00079   CmdVelSubscribers() : allowed(VACANT) { }
00080   ~CmdVelSubscribers() { }
00081 
00082   std::vector<CmdVelSubs>::size_type size() { return list.size(); };
00083   CmdVelSubs& operator [] (unsigned int idx) { return list[idx]; };
00084 
00093   void configure(const YAML::Node& node);
00094 
00095   unsigned int allowed;
00096 
00097 private:
00098   std::vector<CmdVelSubs> list;
00099 };
00100 
00101 } // namespace yocs_cmd_vel_mux
00102 
00103 #endif /* CMD_VEL_SUBSCRIBERS_HPP_ */


yocs_cmd_vel_mux
Author(s): Jorge Santos Simon
autogenerated on Thu Jun 6 2019 21:47:16