Controls the shape and color of a symbol. More...

#include <symbol_controller.hh>

Inheritance diagram for SymbolController:

Public Member Functions
virtual void	Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf)

void	Shuffle ()
	Create a new combination of shape/color. More...

	SymbolController ()=default
	Constructor. More...

Private Member Functions
void	Publish (const ros::TimerEvent &_event)
	Publish the current shape/color combination. This callback is used for publishing the current combination after some time to make sure that all subscribers are up and runnig. More...

void	Publish ()
	Publish the current shape/color combination. More...

bool	Shuffle (std_srvs::Trigger::Request &_req, std_srvs::Trigger::Response &_res)
	ROS service callback for creating a new shape/color combination. More...

void	ShuffleColor ()
	Choose a new random color. More...

void	ShuffleShape ()
	Choose a new random shape. More...

Private Attributes
ros::ServiceServer	changePatternServer
	Service to generate a new random shape/color. More...

std::string	color
	The current color. More...

ros::NodeHandle	nh
	Node handle. More...

std::string	shape
	The current shape. More...

std::vector< ros::Publisher >	symbolPubs
	Publisher to set the color to each of the 3 potential shapes. More...

ros::Timer	timer
	Timer triggered in simulated time to update the shape/color for. More...

Static Private Attributes
static std::map< std::string, std_msgs::ColorRGBA >	kColors
	List of the color options (red, green, blue, and no color) with their string name for logging. More...

static std::vector< std::string >	kShapes
	List of the shape options (circle, cross, triangle) with their string name for logging. More...

Detailed Description

Controls the shape and color of a symbol.

It selects a shape (triangle, cross, circle) and a color (red, green, blue) and applies to the current symbol This plugin can be configured with the following SDF tags:

<robotNamespace> ROS namespace of Node, can be used to have multiple plugins. <shape> "triangle", "cross" or "circle". If ommited, the shape will be randomly selected. <color> "red", "green" or "blue". If ommited, the color will be randomly selected.

Definition at line 43 of file symbol_controller.hh.

Constructor & Destructor Documentation

SymbolController::SymbolController ( )

default

Constructor.

Member Function Documentation

void SymbolController::Load	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Definition at line 53 of file symbol_controller.cc.

void SymbolController::Publish ( const ros::TimerEvent & _event )

private

Publish the current shape/color combination. This callback is used for publishing the current combination after some time to make sure that all subscribers are up and runnig.

Parameters

[in] _event Unused.

Definition at line 187 of file symbol_controller.cc.

void SymbolController::Publish ( )

private

Publish the current shape/color combination.

Definition at line 193 of file symbol_controller.cc.

void SymbolController::Shuffle ( )

Create a new combination of shape/color.

Definition at line 150 of file symbol_controller.cc.

bool SymbolController::Shuffle	(	std_srvs::Trigger::Request &	_req,
		std_srvs::Trigger::Response &	_res
	)

private

ROS service callback for creating a new shape/color combination.

Parameters

[in]	_req	Unused.
[out]	_res	Service result.

Returns: True on success or false otherwise.

Definition at line 141 of file symbol_controller.cc.

void SymbolController::ShuffleColor ( )

private

Choose a new random color.

Definition at line 172 of file symbol_controller.cc.

void SymbolController::ShuffleShape ( )

private

Choose a new random shape.

Definition at line 158 of file symbol_controller.cc.

Member Data Documentation

ros::ServiceServer SymbolController::changePatternServer

private

Service to generate a new random shape/color.

Definition at line 95 of file symbol_controller.hh.

std::string SymbolController::color

private

The current color.

Definition at line 86 of file symbol_controller.hh.

std::map< std::string, std_msgs::ColorRGBA > SymbolController::kColors

staticprivate

Initial value:

=
  {
    {"red",   createColor(1.0, 0.0, 0.0, 1.0)},
    {"green", createColor(0.0, 1.0, 0.0, 1.0)},
    {"blue",  createColor(0.0, 0.0, 1.0, 1.0)},
  }

List of the color options (red, green, blue, and no color) with their string name for logging.

Definition at line 79 of file symbol_controller.hh.

std::vector< std::string > SymbolController::kShapes

staticprivate

Initial value:

=

{"circle", "cross", "triangle"}

List of the shape options (circle, cross, triangle) with their string name for logging.

Definition at line 83 of file symbol_controller.hh.

ros::NodeHandle SymbolController::nh

private

Node handle.

Definition at line 98 of file symbol_controller.hh.

std::string SymbolController::shape

private

The current shape.

Definition at line 89 of file symbol_controller.hh.

std::vector<ros::Publisher> SymbolController::symbolPubs

private

Publisher to set the color to each of the 3 potential shapes.

Definition at line 92 of file symbol_controller.hh.

ros::Timer SymbolController::timer

private

Timer triggered in simulated time to update the shape/color for.

Definition at line 102 of file symbol_controller.hh.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation