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message_filters::TimeSequencer< M > Class Template Reference

Sequences messages based on the timestamp of their header. More...

#include <time_sequencer.h>

Inheritance diagram for message_filters::TimeSequencer< M >:
Inheritance graph
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Classes

class  MessageSort
 

Public Types

typedef ros::MessageEvent< M const > EventType
 
typedef boost::shared_ptr< M const > MConstPtr
 
- Public Types inherited from message_filters::SimpleFilter< M >
typedef boost::function< void(const MConstPtr &)> Callback
 
typedef boost::function< void(const EventType &)> EventCallback
 
typedef ros::MessageEvent< M const > EventType
 
typedef boost::shared_ptr< M const > MConstPtr
 

Public Member Functions

void add (const EventType &evt)
 
void add (const MConstPtr &msg)
 Manually add a message to the cache. More...
 
template<class F >
void connectInput (F &f)
 Connect this filter's input to another filter's output. More...
 
template<class F >
 TimeSequencer (F &f, ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle())
 Constructor. More...
 
 TimeSequencer (ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle())
 Constructor. More...
 
 ~TimeSequencer ()
 
- Public Member Functions inherited from message_filters::SimpleFilter< M >
const std::string & getName ()
 Get the name of this filter. For debugging use. More...
 
template<typename C >
Connection registerCallback (const C &callback)
 Register a callback to be called when this filter has passed. More...
 
template<typename P >
Connection registerCallback (const boost::function< void(P)> &callback)
 Register a callback to be called when this filter has passed. More...
 
template<typename P >
Connection registerCallback (void(*callback)(P))
 Register a callback to be called when this filter has passed. More...
 
template<typename T , typename P >
Connection registerCallback (void(T::*callback)(P), T *t)
 Register a callback to be called when this filter has passed. More...
 
void setName (const std::string &name)
 Set the name of this filter. For debugging use. More...
 

Private Types

typedef std::multiset< EventType, MessageSortS_Message
 
typedef std::vector< EventTypeV_Message
 

Private Member Functions

void cb (const EventType &evt)
 
void dispatch ()
 
void init ()
 
void update (const ros::TimerEvent &)
 

Private Attributes

ros::Duration delay_
 
Connection incoming_connection_
 
ros::Time last_time_
 
S_Message messages_
 
boost::mutex messages_mutex_
 
ros::NodeHandle nh_
 
uint32_t queue_size_
 
ros::Duration update_rate_
 
ros::Timer update_timer_
 

Additional Inherited Members

- Protected Member Functions inherited from message_filters::SimpleFilter< M >
void signalMessage (const MConstPtr &msg)
 Call all registered callbacks, passing them the specified message. More...
 
void signalMessage (const ros::MessageEvent< M const > &event)
 Call all registered callbacks, passing them the specified message. More...
 

Detailed Description

template<class M>
class message_filters::TimeSequencer< M >

Sequences messages based on the timestamp of their header.

The TimeSequencer object is templated on the type of message being sequenced.

BEHAVIOR

At construction, the TimeSequencer takes a ros::Duration "delay" which specifies how long to queue up messages to provide a time sequencing over them. As messages arrive they are sorted according to their time stamps. A callback for a message is never invoked until the messages' time stamp is out of date by at least delay. However, for all messages which are out of date by at least delay, their callback are invoked and guaranteed to be in temporal order. If a message arrives from a time prior to a message which has already had its callback invoked, it is thrown away.

CONNECTIONS

TimeSequencer's input and output connections are both of the same signature as roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<M const>&);

Definition at line 75 of file time_sequencer.h.

Member Typedef Documentation

template<class M>
typedef ros::MessageEvent<M const> message_filters::TimeSequencer< M >::EventType

Definition at line 79 of file time_sequencer.h.

template<class M>
typedef boost::shared_ptr<M const> message_filters::TimeSequencer< M >::MConstPtr

Definition at line 78 of file time_sequencer.h.

template<class M>
typedef std::multiset<EventType, MessageSort> message_filters::TimeSequencer< M >::S_Message
private

Definition at line 172 of file time_sequencer.h.

template<class M>
typedef std::vector<EventType> message_filters::TimeSequencer< M >::V_Message
private

Definition at line 173 of file time_sequencer.h.

Constructor & Destructor Documentation

template<class M>
template<class F >
message_filters::TimeSequencer< M >::TimeSequencer ( F &  f,
ros::Duration  delay,
ros::Duration  update_rate,
uint32_t  queue_size,
ros::NodeHandle  nh = ros::NodeHandle() 
)
inline

Constructor.

Parameters
fA filter to connect this sequencer's input to
delayThe minimum time to hold a message before passing it through.
update_rateThe rate at which to check for messages which have passed "delay"
queue_sizeThe number of messages to store
nh(optional) The NodeHandle to use to create the ros::Timer that runs at update_rate

Definition at line 90 of file time_sequencer.h.

template<class M>
message_filters::TimeSequencer< M >::TimeSequencer ( ros::Duration  delay,
ros::Duration  update_rate,
uint32_t  queue_size,
ros::NodeHandle  nh = ros::NodeHandle() 
)
inline

Constructor.

This version of the constructor does not take a filter immediately. You can connect to a filter later with the connectInput() function

Parameters
delayThe minimum time to hold a message before passing it through.
update_rateThe rate at which to check for messages which have passed "delay"
queue_sizeThe number of messages to store
nh(optional) The NodeHandle to use to create the ros::Timer that runs at update_rate

Definition at line 110 of file time_sequencer.h.

template<class M>
message_filters::TimeSequencer< M >::~TimeSequencer ( )
inline

Definition at line 129 of file time_sequencer.h.

Member Function Documentation

template<class M>
void message_filters::TimeSequencer< M >::add ( const EventType evt)
inline

Definition at line 135 of file time_sequencer.h.

template<class M>
void message_filters::TimeSequencer< M >::add ( const MConstPtr msg)
inline

Manually add a message to the cache.

Definition at line 156 of file time_sequencer.h.

template<class M>
void message_filters::TimeSequencer< M >::cb ( const EventType evt)
inlineprivate

Definition at line 175 of file time_sequencer.h.

template<class M>
template<class F >
void message_filters::TimeSequencer< M >::connectInput ( F &  f)
inline

Connect this filter's input to another filter's output.

Definition at line 123 of file time_sequencer.h.

template<class M>
void message_filters::TimeSequencer< M >::dispatch ( )
inlineprivate

Definition at line 180 of file time_sequencer.h.

template<class M>
void message_filters::TimeSequencer< M >::init ( )
inlineprivate

Definition at line 221 of file time_sequencer.h.

template<class M>
void message_filters::TimeSequencer< M >::update ( const ros::TimerEvent )
inlineprivate

Definition at line 216 of file time_sequencer.h.

Member Data Documentation

template<class M>
ros::Duration message_filters::TimeSequencer< M >::delay_
private

Definition at line 226 of file time_sequencer.h.

template<class M>
Connection message_filters::TimeSequencer< M >::incoming_connection_
private

Definition at line 233 of file time_sequencer.h.

template<class M>
ros::Time message_filters::TimeSequencer< M >::last_time_
private

Definition at line 238 of file time_sequencer.h.

template<class M>
S_Message message_filters::TimeSequencer< M >::messages_
private

Definition at line 236 of file time_sequencer.h.

template<class M>
boost::mutex message_filters::TimeSequencer< M >::messages_mutex_
private

Definition at line 237 of file time_sequencer.h.

template<class M>
ros::NodeHandle message_filters::TimeSequencer< M >::nh_
private

Definition at line 229 of file time_sequencer.h.

template<class M>
uint32_t message_filters::TimeSequencer< M >::queue_size_
private

Definition at line 228 of file time_sequencer.h.

template<class M>
ros::Duration message_filters::TimeSequencer< M >::update_rate_
private

Definition at line 227 of file time_sequencer.h.

template<class M>
ros::Timer message_filters::TimeSequencer< M >::update_timer_
private

Definition at line 231 of file time_sequencer.h.


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


message_filters
Author(s): Josh Faust, Vijay Pradeep
autogenerated on Fri Jun 8 2018 02:54:48