topological_predicate.cpp

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#include <topological_tools/topological_predicate.h>


using namespace std;
using namespace ros;
using namespace predicate_manager;
using namespace topological_tools;


TopologicalPredicate::
TopologicalPredicate ( const string& label_topic,
                       const string& name ) :
    Predicate ( name ),
    label_subs_ ( nh_.subscribe ( label_topic, 1, &TopologicalPredicate::labelCallback, this ) )
{
    nh_.getParam ( "predicate_labels/" + getName(), ( int& ) target_label_ );
}

TopologicalPredicate::TopologicalPredicate ( const string& label_topic,
        const string& name,
        const uint32_t target_label ) :
    Predicate ( name ),
    label_subs_ ( nh_.subscribe ( label_topic, 1, &TopologicalPredicate::labelCallback, this ) ),
    target_label_ ( target_label )
{}

void TopologicalPredicate::labelCallback ( const PoseLabelConstPtr& msg )
{
    received_label_ = msg->label;
    update();
}

void TopologicalPredicate::update()
{
    setValue ( received_label_ == target_label_ );
}