cras Namespace Reference

Namespaces
	impl
	priority_mux

Classes
class	BoundParamHelper
class	ChangeHeaderNodelet
	Nodelet for relaying messages and changing their header. More...
class	ConditionalSubscriber
	A lazy subscriber that subscribes only when a condition is met. More...
class	CountMessagesNodelet
	Nodelet for counting messages and their size. More...
struct	DefaultParamServerType
struct	DefaultToParamFn
struct	DefaultToResultFn
class	DiagnosedPublisher
class	DiagnosedPubSub
class	DiagnosedSubscriber
class	DiagnosticUpdater
class	DurationStatus
struct	DurationStatusParam
class	FilterBase
class	FilterChain
class	FilterChainDiagnostics
class	FilterChainNodelet
struct	FilterGetParamAdapter
class	FilterLogHelper
class	FrequencyStatusParam
struct	from_chars_result
class	GenericLazyPubSub
	A pair of lazy subscriber and publisher which use the same message type (unknown at compile time). More...
struct	GetParamAdapter
class	GetParamException
struct	GetParamOptions
struct	GetParamResult
struct	GetParamResultInfo
class	HasLogger
class	HeartbeatNodelet
	Nodelet that republishes heartbeat of a topic with header. More...
struct	InterruptibleSleepInterface
class	InterruptibleTFBuffer
struct	is_any
struct	is_any<::cras::any >
struct	is_c_string
struct	is_c_string< char * >
struct	is_c_string< char *const >
struct	is_c_string< char[I]>
struct	is_c_string< const char * >
struct	is_c_string< const char *const >
struct	is_c_string< const char[I]>
struct	is_cras_expected
struct	is_cras_expected<::cras::expected< T, E > >
struct	is_optional
struct	is_optional<::cras::optional< T > >
struct	is_string
struct	is_string< T, ::std::enable_if_t<::cras::is_c_string< typename std::decay< T >::type >::value > >
struct	is_string< T, ::std::enable_if_t<::std::is_same< typename std::decay< T >::type, ::std::string >::value > >
class	LazySubscriber
	Lazy subscriber that subscribes only when a paired publisher has subscribers. More...
class	LazySubscriberBase
	Base for lazy subscribers that subscribes only when a paired publisher has subscribers. More...
class	LoaderROS
class	LogHelper
class	MemoryLogHelper
class	NodeHandle
struct	NodeHandleGetParamAdapter
class	NodeHandleWithDiagnostics
class	Nodelet
class	NodeletAwareTFBuffer
class	NodeletBase
class	NodeletLogHelper
class	NodeletManager
class	NodeletManagerSharingTfBuffer
class	NodeletParamHelper
struct	NodeletWithDiagnostics
struct	NodeletWithSharedTfBuffer
struct	NodeletWithSharedTfBufferInterface
class	NodeLogHelper
class	NodeParamHelper
class	ParamHelper
struct	ParamToStringFn
class	PriorityMux
	A class for priority-based muxing of topics. More...
class	PriorityMuxNodelet
	Priority-based muxer nodelet for topics. More...
class	RateLimiter
class	RelayNodelet
	Nodelet for relaying messages on a different topic. More...
class	RepeatMessagesNodelet
	Nodelet for repeating messages coming at a slower rate (or even just a single message). More...
class	Resettable
class	ReverseSemaphore
class	RosconsoleLogHelper
class	RunningStats
class	SemaphoreGuard
class	ShapeShifter
	ShapeShifter class with fixed behavior on copy/move on Melodic. Use this class everywhere possible to prevent memory corruption. It seamlessly converts to topic_tools::ShapeShifter; More...
struct	SimpleDurationStatusParam
struct	SimpleTopicStatusParamNoHeader
struct	SimpleTopicStatusParamWithHeader
class	StatefulNodelet
struct	StatefulNodeletInterface
class	ThreadNameUpdatingNodelet
class	ThrottleLimiter
class	ThrottleMessagesNodelet
	Nodelet for throttling messages on a topic. More...
class	TimeJumpResettable
class	TokenBucketLimiter
class	TopicStatus
struct	TopicStatusParams
class	TopicStatusParamWithHeader
class	WrapperLogHelper
struct	XmlRpcValueGetParamAdapter
struct	XmlRpcValueTraits
struct	XmlRpcValueTraits< bool >
struct	XmlRpcValueTraits< char * >
struct	XmlRpcValueTraits< char >
struct	XmlRpcValueTraits< const char * >
struct	XmlRpcValueTraits< double >
struct	XmlRpcValueTraits< float >
struct	XmlRpcValueTraits< int >
struct	XmlRpcValueTraits< long >
struct	XmlRpcValueTraits< long double >
struct	XmlRpcValueTraits< long long >
struct	XmlRpcValueTraits< short >
struct	XmlRpcValueTraits< signed char >
struct	XmlRpcValueTraits< typename ::XmlRpc::XmlRpcValue::BinaryData >
struct	XmlRpcValueTraits< unsigned char >
struct	XmlRpcValueTraits< unsigned int >
struct	XmlRpcValueTraits< unsigned long >
struct	XmlRpcValueTraits< unsigned long long >
struct	XmlRpcValueTraits< unsigned short >
struct	XmlRpcValueTraits<::std::array< T, N >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::list< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::map<::std::string, T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::set< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::string >
struct	XmlRpcValueTraits<::std::unordered_map<::std::string, T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::unordered_set< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::std::vector< T >, typename ::std::enable_if<::cras::XmlRpcValueTraits< T >::xmlRpcType !=::XmlRpc::XmlRpcValue::TypeInvalid >::type >
struct	XmlRpcValueTraits<::tm >

Typedefs
typedef void *(*	allocator_t) (size_t)
typedef typename ::ros::ParameterAdapter< M >::Message	BaseMessage
typedef ::std::shared_ptr<::cras::BoundParamHelper >	BoundParamHelperPtr
typedef typename std::enable_if_t< !::cras::is_optional< ResultType >::value &&!::cras::is_c_string< ResultType >::value &&!::cras::is_c_string< ParamServerType >::value >	check_get_param_types
typedef ::sensor_msgs::PointCloud2	Cloud
typedef ::sensor_msgs::PointCloud2ConstIterator< float >	CloudConstIter
typedef ::sensor_msgs::PointCloud2ConstIterator< int >	CloudIndexConstIter
typedef ::sensor_msgs::PointCloud2Iterator< int >	CloudIndexIter
typedef ::sensor_msgs::PointCloud2Iterator< float >	CloudIter
typedef ::sensor_msgs::PointCloud2Modifier	CloudModifier
typedef ::std::shared_ptr<::cras::DurationStatus >	DurationStatusPtr
typedef ::cras::impl::GenericCloudConstIterator	GenericCloudConstIter
typedef ::cras::impl::GenericCloudIterator	GenericCloudIter
typedef ::std::shared_ptr<::cras::GetParamAdapter >	GetParamAdapterPtr
typedef ::ros::message_traits::IsMessage<::cras::BaseMessage< M > >	IsMessageParam
typedef ::cras::LogHelper::ConstPtr	LogHelperConstPtr
typedef ::cras::LogHelper::Ptr	LogHelperPtr
typedef ::std::shared_ptr<::cras::ParamHelper >	ParamHelperPtr
typedef ::std::conditional_t<::ros::message_traits::HasHeader< Message >::value, ::cras::SimpleTopicStatusParamWithHeader, ::cras::SimpleTopicStatusParamNoHeader >	SimpleTopicStatusParam
typedef ::std::conditional_t<::ros::message_traits::HasHeader< Message >::value, ::cras::TopicStatusParamWithHeader, ::cras::FrequencyStatusParam >	TopicStatusParam
typedef ::std::shared_ptr<::cras::TopicStatus< Message > >	TopicStatusPtr
typedef ::std::function<::std::string(const T &)>	ToStringFn

Enumerations
enum	chars_format
enum	CloudChannelType { CloudChannelType::POINT, CloudChannelType::DIRECTION, CloudChannelType::SCALAR }
enum	ReplacePosition { ReplacePosition::EVERYWHERE, ReplacePosition::START, ReplacePosition::END }

Functions
::std::string	appendIfNonEmpty (const ::std::string &str, const ::std::string &suffix)
auto	bind_front (F &&f, Args &&... args)
::std::string	cleanTypeName (const ::std::string &typeName)
bool	contains (const ::std::string &str, char c)
bool	contains (const ::std::string &str, const ::std::string &needle)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::dynamic_reconfigure::Config &v, bool skipNonConvertible, ::std::list<::std::string > *errors)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::array< T, N > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::list< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::map<::std::string, T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::set< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::unordered_map<::std::string, T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::unordered_set< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::std::vector< T > &v, bool skipNonConvertible=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, ::XmlRpc::XmlRpcValue &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, bool &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, double &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, int &v, bool=false, ::std::list<::std::string > *errors=nullptr)
bool	convert (const ::XmlRpc::XmlRpcValue &x, std::string &v, bool=false, ::std::list<::std::string > *errors=nullptr)
void	copyChannelData (const ::cras::Cloud &in, ::cras::Cloud &out, const ::std::string &fieldName)
void	copyShapeShifter (const ::topic_tools::ShapeShifter &in, ::topic_tools::ShapeShifter &out)
	Copy in ShapeShifter to out. More...
void	copyShapeShifter (const topic_tools::ShapeShifter &in, topic_tools::ShapeShifter &out)
	DEFINE_CONVERTING_GET_PARAM (::Eigen::Vector3d, ::std::vector< double >, "",[](const ::std::vector< double > &v){ checkSize(v, 3, "vector");return ::Eigen::Vector3d(v.data());}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::Eigen::Vector4d, ::std::vector< double >, "",[](const ::std::vector< double > &v){ checkSize(v, 4, "vector");return ::Eigen::Vector4d(v.data());}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::geometry_msgs::Quaternion, ::std::vector< double >, "",[](const ::std::vector< double > &v) { if(v.size() !=3 &&v.size() !=4) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "geometry_msgs::Quaternion", v.size()));::geometry_msgs::Quaternion m;if(v.size()==4) { m.x=v[0];m.y=v[1];m.z=v[2];m.w=v[3];} else { ::tf2::Quaternion q;q.setRPY(v[0], v[1], v[2]);m.x=q.getX();m.y=q.getY();m.z=q.getZ();m.w=q.getW();} return m;}) DEFINE_CONVERTING_GET_PARAM(
	DEFINE_CONVERTING_GET_PARAM (::tf2::Vector3, ::std::vector< double >, "",[](const ::std::vector< double > &v) { if(v.size() !=3) throw ::std::runtime_error(::cras::format("Cannot load %s parameter from an array of length %lu", "tf2::Vector3", v.size()));return ::tf2::Vector3(v[0], v[1], v[2]);}) DEFINE_CONVERTING_GET_PARAM(
LONG_MAX	DEFINE_INTEGRAL_CONVERT (long long, int, LONG_LONG_MIN, LONG_LONG_MAX) DEFINE_INTEGRAL_CONVERT(unsigned short
	DEFINE_INTEGRAL_CONVERT (short, int, SHRT_MIN, SHRT_MAX) DEFINE_INTEGRAL_CONVERT(long
LONG_MAX USHRT_MAX	DEFINE_INTEGRAL_CONVERT (unsigned long, int, 0, ULONG_MAX) DEFINE_INTEGRAL_CONVERT(unsigned long long
::std::string	demangle (const ::std::string &mangled)
bool	endsWith (const ::std::string &str, const ::std::string &suffix)
inline ::std::string	format (::std::string format, ::va_list args)
inline ::std::string	format (::std::string format,...)
inline ::std::string	format (const char *format, ::va_list args)
inline ::std::string	format (const char *format,...)
double	frequency (const ::ros::Rate &rate, bool maxCycleTimeMeansZero=false)
double	frequency (const ::ros::WallRate &rate, bool maxCycleTimeMeansZero=false)
inline ::cras::from_chars_result	from_chars (const ::std::string &string, double &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
inline ::cras::from_chars_result	from_chars (const ::std::string &string, float &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
::cras::from_chars_result	from_chars (const char *first, const char *last, double &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
::cras::from_chars_result	from_chars (const char *first, const char *last, float &value, ::cras::chars_format fmt=::cras::chars_format::general) noexcept
uint8_t *	getBuffer (::topic_tools::ShapeShifter &msg)
	Get the internal buffer with serialized message data. More...
const uint8_t *	getBuffer (const ::topic_tools::ShapeShifter &msg)
	Get the internal buffer with serialized message data. More...
const uint8_t *	getBuffer (const topic_tools::ShapeShifter &msg)
uint8_t *	getBuffer (topic_tools::ShapeShifter &msg)
size_t	getBufferLength (const ::topic_tools::ShapeShifter &msg)
	Get the length of the internal buffer with serialized message data. More...
size_t	getBufferLength (const topic_tools::ShapeShifter &msg)
::sensor_msgs::PointField &	getField (::cras::Cloud &cloud, const ::std::string &fieldName)
const ::sensor_msgs::PointField &	getField (const ::cras::Cloud &cloud, const ::std::string &fieldName)
::cras::optional<::std_msgs::Header >	getHeader (const ::topic_tools::ShapeShifter &msg)
	Get the header field of the given message, if it has any. More...
cras::optional< std_msgs::Header >	getHeader (const topic_tools::ShapeShifter &msg)
inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions< std::string > &options={})
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}, const ::cras::LogHelper *const logger=nullptr)
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}, const ::cras::LogHelper *const logger=nullptr)
GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
double	getPitch (const ::geometry_msgs::Quaternion &quat)
double	getPitch (const ::tf2::Quaternion &quat)
double	getRoll (const ::geometry_msgs::Quaternion &quat)
double	getRoll (const ::tf2::Quaternion &quat)
void	getRPY (const ::geometry_msgs::Quaternion &quat, double &roll, double &pitch, double &yaw)
void	getRPY (const ::tf2::Quaternion &quat, double &roll, double &pitch, double &yaw)
std::string	getThreadName ()
inline ::std::string	getTypeName ()
::std::string	getTypeName (const ::std::type_info &typeInfo)
double	getYaw (const ::geometry_msgs::Quaternion &quat)
double	getYaw (const ::tf2::Quaternion &quat)
bool	hasField (const ::cras::Cloud &cloud, const ::std::string &fieldName)
bool	hasHeader (const ::topic_tools::ShapeShifter &msg)
	Tell whether the given message has header field. More...
bool	hasHeader (const topic_tools::ShapeShifter &msg)
bool	isNodeletUnloading (const ::nodelet::Nodelet &nodelet)
bool	isSetIntersectionEmpty (const ::std::set< T > &set1, const ::std::set< T > &set2)
::std::string	join (const T &strings, const ::std::string &delimiter)
int8_t	logLevelToRosgraphMsgLevel (::ros::console::Level rosLevel)
::boost::shared_ptr< T >	make_shared_from_fast_pool (Args &&... args)
::boost::shared_ptr< T >	make_shared_from_pool (Args &&... args)
template<typename T , typename EnableT >
void	msgToShapeShifter (const T &msg, ::topic_tools::ShapeShifter &shifter)
	Copy the message instance into the given ShapeShifter. More...
inline ::cras::BoundParamHelperPtr	nodeParams (const ::ros::NodeHandle &node, const ::std::string &ns="")
::ros::Time	nowFallbackToWall ()
size_t	numPoints (const ::cras::Cloud &cloud)
uint8_t *	outputByteBuffer (allocator_t allocator, const std::vector< uint8_t > &bytes)
uint8_t *	outputByteBuffer (allocator_t allocator, const uint8_t *bytes, size_t length)
uint8_t *	outputRosMessage (allocator_t allocator, const Message &msg)
char *	outputString (allocator_t allocator, const char *string, size_t length)
char *	outputString (allocator_t allocator, const std::string &string)
inline ::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node)
double	parseDouble (const ::std::string &string)
double	parseDouble (const char *string)
float	parseFloat (const ::std::string &string)
float	parseFloat (const char *string)
int16_t	parseInt16 (const char *string)
int16_t	parseInt16 (const std::string &string)
int32_t	parseInt32 (const char *string)
int32_t	parseInt32 (const std::string &string)
int64_t	parseInt64 (const char *string)
int64_t	parseInt64 (const std::string &string)
int8_t	parseInt8 (const char *string)
int8_t	parseInt8 (const std::string &string)
uint16_t	parseUInt16 (const char *string)
uint16_t	parseUInt16 (const std::string &string)
uint32_t	parseUInt32 (const char *string)
uint32_t	parseUInt32 (const std::string &string)
uint64_t	parseUInt64 (const char *string)
uint64_t	parseUInt64 (const std::string &string)
uint8_t	parseUInt8 (const char *string)
uint8_t	parseUInt8 (const std::string &string)
::std::string	prependIfNonEmpty (const ::std::string &str, const ::std::string &prefix)
inline ::std::string	quoteIfStringType (const ::std::string &s, const T &)
void	registerCloudChannelType (const ::std::string &channelPrefix, ::cras::CloudChannelType type)
::ros::Duration	remainingTime (const ::ros::Time &query, const ::ros::Duration &timeout)
::ros::Duration	remainingTime (const ::ros::Time &query, double timeout)
::std::string	removePrefix (const ::std::string &str, const ::std::string &prefix, bool *hadPrefix=nullptr)
::std::string	removeSuffix (const ::std::string &str, const ::std::string &suffix, bool *hadSuffix=nullptr)
void	replace (::std::string &str, const ::std::string &from, const ::std::string &to, const ::cras::ReplacePosition &where=::cras::ReplacePosition::EVERYWHERE)
::std::string	replace (const ::std::string &str, const ::std::string &from, const ::std::string &to, const ::cras::ReplacePosition &where=::cras::ReplacePosition::EVERYWHERE)
void	resizeBuffer (::topic_tools::ShapeShifter &msg, size_t newLength)
	Resize the internal buffer of the message. More...
void	resizeBuffer (topic_tools::ShapeShifter &msg, size_t newLength)
::ros::console::Level	rosgraphMsgLevelToLogLevel (uint8_t msgLevel)
::ros::Rate	safeRate (double frequency)
::ros::WallRate	safeWallRate (double frequency)
::ros::SteadyTime	saturateAdd (const ::ros::SteadyTime &time, const ::ros::WallDuration &duration)
::ros::Time	saturateAdd (const ::ros::Time &time, const ::ros::Duration &duration)
::ros::WallTime	saturateAdd (const ::ros::WallTime &time, const ::ros::WallDuration &duration)
bool	setHeader (::topic_tools::ShapeShifter &msg, ::std_msgs::Header &header)
	Change the header field of the given message, if it has any. More...
bool	setHeader (topic_tools::ShapeShifter &msg, std_msgs::Header &header)
void	setThreadName (const std::string &name)
size_t	sizeOfPointField (const ::sensor_msgs::PointField &field)
size_t	sizeOfPointField (int datatype)
::std::vector<::std::string >	split (const ::std::string &str, const ::std::string &delimiter, int maxSplits=-1)
bool	startsWith (const ::std::string &str, const ::std::string &prefix)
void	strip (::std::string &s, const char &c=' ')
::std::string	strip (const ::std::string &s, const char &c=' ')
void	stripLeading (::std::string &s, const char &c=' ')
::std::string	stripLeading (const ::std::string &s, const char &c=' ')
void	stripLeadingSlash (::std::string &s, bool warn=false)
::std::string	stripLeadingSlash (const ::std::string &s, bool warn=false)
void	stripTrailing (::std::string &s, const char &c=' ')
::std::string	stripTrailing (const ::std::string &s, const char &c=' ')
constexpr const char *	to_cstring (const ::XmlRpc::XmlRpcValue::Type &value)
inline ::std::string	to_string (char *value)
inline ::std::string	to_string (const ::Eigen::Matrix< Scalar, Rows, Cols, Options, MaxRows, MaxCols > &value)
inline ::std::string	to_string (const ::Eigen::RotationBase< Derived, Dim > &value)
inline ::std::string	to_string (const ::Eigen::Transform< Scalar, Dim, Mode, Options > &value)
inline ::std::string	to_string (const ::std::array< T, N > &value)
inline ::std::string	to_string (const ::std::map< K, V > &value)
inline ::std::string	to_string (const ::std::string &value)
inline ::std::string	to_string (const ::std::unordered_map< K, V > &value)
inline ::std::string	to_string (const ::tf2::Matrix3x3 &value)
inline ::std::string	to_string (const ::tf2::Quaternion &value)
inline ::std::string	to_string (const ::tf2::Transform &value)
inline ::std::string	to_string (const ::tf2::Vector3 &value)
inline ::std::string	to_string (const ::XmlRpc::XmlRpcValue &value)
inline ::std::string	to_string (const ::XmlRpc::XmlRpcValue::Type &value)
inline ::std::string	to_string (const bool &value)
inline ::std::string	to_string (const char *value)
inline ::std::string	to_string (const char value[I])
inline ::std::string	to_string (const double &value)
inline ::std::string	to_string (const float &value)
inline ::std::string	to_string (const long double &value)
std::string	to_string (const M &msg)
inline ::std::string	to_string (const T &value)
::Eigen::Isometry3d	toEigen (const ::urdf::Pose &pose)
::Eigen::Quaterniond	toEigen (const ::urdf::Rotation &rotation)
::Eigen::Translation3d	toEigen (const ::urdf::Vector3 &position)
::std::string	toLower (const ::std::string &str)
::std::string	toUpper (const ::std::string &str)
::urdf::Pose	toURDF (const ::Eigen::Isometry3d &pose)
::urdf::Rotation	toURDF (const ::Eigen::Quaterniond &rotation)
::urdf::Vector3	toURDF (const ::Eigen::Translation3d &translation)
::urdf::Vector3	toURDF (const ::Eigen::Vector3d &vector)
void	transformChannel (::sensor_msgs::PointCloud2 &cloud, const ::geometry_msgs::Transform &transform, const ::std::string &channelPrefix, ::cras::CloudChannelType type)
::sensor_msgs::PointCloud2 &	transformOnlyChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
::sensor_msgs::PointCloud2 &	transformOnlyXYZ (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf)
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf)
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::geometry_msgs::TransformStamped &tf, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::tf2_ros::Buffer &tfBuffer, const ::std::string &targetFrame)
::sensor_msgs::PointCloud2 &	transformWithChannels (const ::sensor_msgs::PointCloud2 &in, ::sensor_msgs::PointCloud2 &out, const ::tf2_ros::Buffer &tfBuffer, const ::std::string &targetFrame, const ::std::unordered_map<::std::string, ::cras::CloudChannelType > &channels)
void	unregisterCloudChannelType (const ::std::string &channelPrefix)

Variables
constexpr auto	DEFAULT_NONE_TOPIC = "__none"
constexpr auto	DEFAULT_OUT_TOPIC = "mux_out"
	fixed
	general
	hex
	int
	LONG_MIN
const ParamHelper	paramHelper (::std::make_shared<::cras::NodeLogHelper >())
	scientific

Function Documentation

copyShapeShifter() [1/2]

void cras::copyShapeShifter	(	const ::topic_tools::ShapeShifter &	in,
		::topic_tools::ShapeShifter &	out
	)

Copy in ShapeShifter to out.

Parameters

[in]	in	Input message.
[in]	out	Output message.

Note

This is a workaround for https://github.com/ros/ros_comm/pull/1722 which has not been merged into Melodic.

copyShapeShifter() [2/2]

void cras::copyShapeShifter	(	const topic_tools::ShapeShifter &	in,
		topic_tools::ShapeShifter &	out
	)

Definition at line 93 of file shape_shifter.cpp.

getBuffer() [1/4]

uint8_t* cras::getBuffer

(

::topic_tools::ShapeShifter &

msg

)

Get the internal buffer with serialized message data.

Parameters

[in]

msg

The shape shifter object.

Returns

The internal buffer.

Note

The buffer can stop being valid after a ShapeShifter::read() operation or when the shifter is destroyed.

getBuffer() [2/4]

const uint8_t* cras::getBuffer

(

const ::topic_tools::ShapeShifter &

msg

)

Get the internal buffer with serialized message data.

Parameters

[in]

msg

The shape shifter object.

Returns

The internal buffer.

Note

The buffer can stop being valid after a ShapeShifter::read() operation or when the shifter is destroyed.

getBuffer() [3/4]

const uint8_t* cras::getBuffer

(

const topic_tools::ShapeShifter &

msg

)

Definition at line 67 of file shape_shifter.cpp.

getBuffer() [4/4]

uint8_t* cras::getBuffer

(

topic_tools::ShapeShifter &

msg

)

Definition at line 62 of file shape_shifter.cpp.

getBufferLength() [1/2]

size_t cras::getBufferLength

(

const ::topic_tools::ShapeShifter &

msg

)

Get the length of the internal buffer with serialized message data.

Parameters

[in]

msg

The shape shifter object.

Returns

The internal buffer length.

Note

The buffer can stop being valid after a ShapeShifter::read() operation or when the shifter is destroyed.

getBufferLength() [2/2]

size_t cras::getBufferLength

(

const topic_tools::ShapeShifter &

msg

)

Definition at line 103 of file shape_shifter.cpp.

getHeader() [1/2]

::cras::optional<::std_msgs::Header> cras::getHeader

(

const ::topic_tools::ShapeShifter &

msg

)

Get the header field of the given message, if it has any.

Parameters

[in]

msg

The shape shifter object.

Returns

The header of the represented message. If there is no header, nullopt is returned.

Note

This function can have some "false positives", as it doesn't actually know whether the message has a header or not. There is a high chance that if the message does not have a header, the reading of Header data will fail, but there are corner cases when the message data will be interpretable as a Header. It is advised to check whether the message type has a header via introspection, hasHeader() or some other kind of information.

getHeader() [2/2]

cras::optional<std_msgs::Header> cras::getHeader

(

const topic_tools::ShapeShifter &

msg

)

Definition at line 122 of file shape_shifter.cpp.

hasHeader() [1/2]

bool cras::hasHeader

(

const ::topic_tools::ShapeShifter &

msg

)

Tell whether the given message has header field.

Parameters

[in]

msg

The shape shifter object.

Returns

Whether there is a header field in the message.

Note

This function might be slow. Do not call it on receipt of every message on high-frequency topics.

hasHeader() [2/2]

bool cras::hasHeader

(

const topic_tools::ShapeShifter &

msg

)

Definition at line 108 of file shape_shifter.cpp.

msgToShapeShifter()

template<typename T , typename EnableT >

void cras::msgToShapeShifter	(	const T &	msg,
		::topic_tools::ShapeShifter &	shifter
	)

Copy the message instance into the given ShapeShifter.

Template Parameters

T	Type of the message.

Parameters

[in]	msg	The message to copy.
[out]	shifter	The ShapeShifter to copy to.

Note

All old references to the shifter's internal buffer have to be treated as invalid after calling this function.

Definition at line 22 of file shape_shifter.hpp.

resizeBuffer() [1/2]

void cras::resizeBuffer	(	::topic_tools::ShapeShifter &	msg,
		size_t	newLength
	)

Resize the internal buffer of the message.

Parameters

[in,out]	msg	The message to change.
[in]	newLength	New length of the internal buffer.

Note

If the new size is the same as the old one, nothing happens. If the new one is longer, the buffer is reallocated and the contents of the old buffer are copied to it. If the new one is shorter, the contained data are cropped to the new length.

Use this function with care. After calling it, the message object becomes invalid until you fix it.

resizeBuffer() [2/2]

void cras::resizeBuffer	(	topic_tools::ShapeShifter &	msg,
		size_t	newLength
	)

Definition at line 72 of file shape_shifter.cpp.

setHeader() [1/2]

bool cras::setHeader	(	::topic_tools::ShapeShifter &	msg,
		::std_msgs::Header &	header
	)

Change the header field of the given message, if it has any.

Parameters

[in,out]	msg	The message to change.
[in]	header	The header to set.

Returns

Whether setting the new header has succeeded. It will fail if either the message does not seem to have a header field, or if some serialization/deserialization error occurs. If the function returns false, the message has to be considered invalid and has to be discarded. The caller should use getHeader() or other information sources to make sure the message type actually does have a header.

Note

This function does not (de)serialize the whole message, it only serializes its header part.

If the new header is shorter or same length as the old one, there is no memory allocation happening.

setHeader() [2/2]

bool cras::setHeader	(	topic_tools::ShapeShifter &	msg,
		std_msgs::Header &	header
	)

Definition at line 139 of file shape_shifter.cpp.

Variable Documentation

DEFAULT_NONE_TOPIC

constexpr auto cras::DEFAULT_NONE_TOPIC = "__none"

constexpr

Definition at line 34 of file priority_mux.cpp.

DEFAULT_OUT_TOPIC

constexpr auto cras::DEFAULT_OUT_TOPIC = "mux_out"

constexpr

Definition at line 33 of file priority_mux.cpp.