twist_mux::TwistMux Class Reference

The TwistMux class implements a top-level twist multiplexer module that priorize different velocity command topic inputs according to locks. More...

#include <twist_mux.h>

List of all members.

Public Types
typedef std::list < LockTopicHandle >	lock_topic_container
typedef std::list < VelocityTopicHandle >	velocity_topic_container
Public Member Functions
bool	hasPriority (const VelocityTopicHandle &twist)
void	publishTwist (const geometry_msgs::TwistConstPtr &msg)
	TwistMux (int window_size=10)
void	updateDiagnostics (const ros::TimerEvent &event)
	~TwistMux ()
Protected Types
typedef TwistMuxDiagnostics	diagnostics_type
typedef TwistMuxDiagnosticsStatus	status_type
Protected Member Functions
int	getLockPriority ()
template<typename T >
void	getTopicHandles (ros::NodeHandle &nh, ros::NodeHandle &nh_priv, const std::string &param_name, std::list< T > &topic_hs)
Protected Attributes
ros::Publisher	cmd_pub_
boost::shared_ptr < diagnostics_type >	diagnostics_
ros::Timer	diagnostics_timer_
geometry_msgs::Twist	last_cmd_
boost::shared_ptr < lock_topic_container >	lock_hs_
boost::shared_ptr< status_type >	status_
boost::shared_ptr < velocity_topic_container >	velocity_hs_
	velocity_hs_ Velocity topics' handles. Note that if we use a vector, as a consequence of the re-allocation and the fact that we have a subscriber inside with a pointer to 'this', we must reserve the number of handles initially.
Static Protected Attributes
static constexpr double	DIAGNOSTICS_PERIOD = 1.0

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Detailed Description

The TwistMux class implements a top-level twist multiplexer module that priorize different velocity command topic inputs according to locks.

Definition at line 44 of file twist_mux.h.

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Member Typedef Documentation

typedef TwistMuxDiagnostics twist_mux::TwistMux::diagnostics_type [protected]

Definition at line 66 of file twist_mux.h.

typedef std::list<LockTopicHandle> twist_mux::TwistMux::lock_topic_container

Definition at line 53 of file twist_mux.h.

typedef TwistMuxDiagnosticsStatus twist_mux::TwistMux::status_type [protected]

Definition at line 67 of file twist_mux.h.

typedef std::list<VelocityTopicHandle> twist_mux::TwistMux::velocity_topic_container

Definition at line 52 of file twist_mux.h.

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Constructor & Destructor Documentation

twist_mux::TwistMux::TwistMux

(

int

window_size = 10

)

Get topics and locks:

Publisher for output topic:

Diagnostics:

Definition at line 51 of file twist_mux.cpp.

twist_mux::TwistMux::~TwistMux

(

)

Definition at line 74 of file twist_mux.cpp.

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Member Function Documentation

int twist_mux::TwistMux::getLockPriority

(

)

[protected]

max_element on the priority of lock topic handles satisfying that is locked:

Definition at line 118 of file twist_mux.cpp.

template<typename T >

void twist_mux::TwistMux::getTopicHandles	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_priv,
		const std::string &	param_name,
		std::list< T > &	topic_hs
	)		[protected]

Definition at line 89 of file twist_mux.cpp.

bool twist_mux::TwistMux::hasPriority

(

const VelocityTopicHandle &

twist

)

max_element on the priority of velocity topic handles satisfying that is NOT masked by the lock priority:

Definition at line 141 of file twist_mux.cpp.

void twist_mux::TwistMux::publishTwist

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 83 of file twist_mux.cpp.

void twist_mux::TwistMux::updateDiagnostics

(

const ros::TimerEvent &

event

)

Definition at line 77 of file twist_mux.cpp.

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Member Data Documentation

ros::Publisher twist_mux::TwistMux::cmd_pub_ [protected]

Definition at line 85 of file twist_mux.h.

boost::shared_ptr<diagnostics_type> twist_mux::TwistMux::diagnostics_ [protected]

Definition at line 94 of file twist_mux.h.

constexpr double twist_mux::TwistMux::DIAGNOSTICS_PERIOD = 1.0 [static, protected]

Definition at line 71 of file twist_mux.h.

ros::Timer twist_mux::TwistMux::diagnostics_timer_ [protected]

Definition at line 69 of file twist_mux.h.

geometry_msgs::Twist twist_mux::TwistMux::last_cmd_ [protected]

Definition at line 87 of file twist_mux.h.

boost::shared_ptr<lock_topic_container> twist_mux::TwistMux::lock_hs_ [protected]

Definition at line 83 of file twist_mux.h.

boost::shared_ptr<status_type> twist_mux::TwistMux::status_ [protected]

Definition at line 95 of file twist_mux.h.

boost::shared_ptr<velocity_topic_container> twist_mux::TwistMux::velocity_hs_ [protected]

velocity_hs_ Velocity topics' handles. Note that if we use a vector, as a consequence of the re-allocation and the fact that we have a subscriber inside with a pointer to 'this', we must reserve the number of handles initially.

Definition at line 82 of file twist_mux.h.

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

• twist_mux.h
• twist_mux.cpp