Class DesertNode

• Defined in File DesertNode.h

Class Documentation

class DesertNode

Public Functions

DesertNode(std::string name, std::string namespace_, rmw_gid_t gid)

Create a node.

Parameters:

• name – Name of the node

• namespace_ – Namespace of the node

• gid – Global identifier of the node

~DesertNode()

void add_publisher(DesertPublisher *pub)

Add a publisher to the current node.

This function pushes the pointer to a publisher in a vector of all the registered publishers related to the current node.

Parameters:

pub – Pointer to a DesertPublisher instance

void add_subscriber(DesertSubscriber *sub)

Add a subscriber to the current node.

This function pushes the pointer to a subscriber in a vector of all the registered subscribers related to the current node.

Parameters:

sub – Pointer to a DesertSubscriber instance

void add_client(DesertClient *cli)

Add a client to the current node.

This function pushes the pointer to a client in a vector of all the registered clients related to the current node.

Parameters:

cli – Pointer to a DesertClient instance

void add_service(DesertService *ser)

Add a service to the current node.

This function pushes the pointer to a service in a vector of all the registered services related to the current node.

Parameters:

ser – Pointer to a DesertService instance

void remove_publisher(DesertPublisher *pub)

Remove a publisher from the current node.

This function removes the pointer to a publisher from the vector of all the registered publishers related to the current node.

Parameters:

pub – Pointer to a DesertPublisher instance

void remove_subscriber(DesertSubscriber *sub)

Remove a subscriber from the current node.

This function removes the pointer to a subscriber from the vector of all the registered subscribers related to the current node.

Parameters:

sub – Pointer to a DesertSubscriber instance

void remove_client(DesertClient *cli)

Remove a client from the current node.

This function removes the pointer to a client from the vector of all the registered clients related to the current node.

Parameters:

cli – Pointer to a DesertClient instance

void remove_service(DesertService *ser)

Remove a service from the current node.

This function removes the pointer to a service from the vector of all the registered services related to the current node.

Parameters:

ser – Pointer to a DesertService instance

rmw_gid_t get_gid()

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns:

Global identifier of the entity