twist_mux::TwistMux Class Reference

The TwistMux class implements a top-level twist multiplexer module that priorize different velocity command topic inputs according to locks. More...

#include <twist_mux.h>

Public Types
typedef std::list< LockTopicHandle >	lock_topic_container
typedef std::list< VelocityTopicHandle >	velocity_topic_container

Public Member Functions
bool	hasPriority (const VelocityTopicHandle &twist)
void	publishTwist (const geometry_msgs::TwistConstPtr &msg)
	TwistMux (int window_size=10)
void	updateDiagnostics (const ros::TimerEvent &event)
	~TwistMux ()

Protected Types
typedef TwistMuxDiagnostics	diagnostics_type
typedef TwistMuxDiagnosticsStatus	status_type

Protected Member Functions
int	getLockPriority ()
template<typename T >
void	getTopicHandles (ros::NodeHandle &nh, ros::NodeHandle &nh_priv, const std::string &param_name, std::list< T > &topic_hs)

Protected Attributes
ros::Publisher	cmd_pub_
boost::shared_ptr< diagnostics_type >	diagnostics_
ros::Timer	diagnostics_timer_
geometry_msgs::Twist	last_cmd_
boost::shared_ptr< lock_topic_container >	lock_hs_
boost::shared_ptr< status_type >	status_
boost::shared_ptr< velocity_topic_container >	velocity_hs_
	velocity_hs_ Velocity topics' handles. Note that if we use a vector, as a consequence of the re-allocation and the fact that we have a subscriber inside with a pointer to 'this', we must reserve the number of handles initially. More...

Static Protected Attributes
static constexpr double	DIAGNOSTICS_PERIOD = 1.0

Detailed Description

The TwistMux class implements a top-level twist multiplexer module that priorize different velocity command topic inputs according to locks.

Definition at line 44 of file twist_mux.h.

Member Typedef Documentation

diagnostics_type

typedef TwistMuxDiagnostics twist_mux::TwistMux::diagnostics_type

protected

Definition at line 66 of file twist_mux.h.

lock_topic_container

typedef std::list<LockTopicHandle> twist_mux::TwistMux::lock_topic_container

Definition at line 53 of file twist_mux.h.

status_type

typedef TwistMuxDiagnosticsStatus twist_mux::TwistMux::status_type

protected

Definition at line 67 of file twist_mux.h.

velocity_topic_container

typedef std::list<VelocityTopicHandle> twist_mux::TwistMux::velocity_topic_container

Definition at line 52 of file twist_mux.h.

Constructor & Destructor Documentation

TwistMux()

twist_mux::TwistMux::TwistMux

(

int

window_size = 10

)

Get topics and locks:

Publisher for output topic:

Diagnostics:

Definition at line 51 of file twist_mux.cpp.

~TwistMux()

twist_mux::TwistMux::~TwistMux

(

)

Definition at line 74 of file twist_mux.cpp.

Member Function Documentation

getLockPriority()

int twist_mux::TwistMux::getLockPriority ( )

protected

max_element on the priority of lock topic handles satisfying that is locked:

Definition at line 118 of file twist_mux.cpp.

getTopicHandles()

template<typename T >

void twist_mux::TwistMux::getTopicHandles ( ros::NodeHandle &  nh, ros::NodeHandle &  nh_priv, const std::string &  param_name, std::list< T > &  topic_hs  )

protected

Definition at line 89 of file twist_mux.cpp.

hasPriority()

bool twist_mux::TwistMux::hasPriority

(

const VelocityTopicHandle &

twist

)

max_element on the priority of velocity topic handles satisfying that is NOT masked by the lock priority:

Definition at line 141 of file twist_mux.cpp.

publishTwist()

void twist_mux::TwistMux::publishTwist

(

const geometry_msgs::TwistConstPtr &

msg

)

Definition at line 83 of file twist_mux.cpp.

updateDiagnostics()

void twist_mux::TwistMux::updateDiagnostics

(

const ros::TimerEvent &

event

)

Definition at line 77 of file twist_mux.cpp.

Member Data Documentation

cmd_pub_

ros::Publisher twist_mux::TwistMux::cmd_pub_

protected

Definition at line 85 of file twist_mux.h.

diagnostics_

boost::shared_ptr<diagnostics_type> twist_mux::TwistMux::diagnostics_

protected

Definition at line 94 of file twist_mux.h.

DIAGNOSTICS_PERIOD

constexpr double twist_mux::TwistMux::DIAGNOSTICS_PERIOD = 1.0

staticprotected

Definition at line 71 of file twist_mux.h.

diagnostics_timer_

ros::Timer twist_mux::TwistMux::diagnostics_timer_

protected

Definition at line 69 of file twist_mux.h.

last_cmd_

geometry_msgs::Twist twist_mux::TwistMux::last_cmd_

protected

Definition at line 87 of file twist_mux.h.

lock_hs_

boost::shared_ptr<lock_topic_container> twist_mux::TwistMux::lock_hs_

protected

Definition at line 83 of file twist_mux.h.

status_

boost::shared_ptr<status_type> twist_mux::TwistMux::status_

protected

Definition at line 95 of file twist_mux.h.

velocity_hs_

boost::shared_ptr<velocity_topic_container> twist_mux::TwistMux::velocity_hs_

protected

velocity_hs_ Velocity topics' handles. Note that if we use a vector, as a consequence of the re-allocation and the fact that we have a subscriber inside with a pointer to 'this', we must reserve the number of handles initially.

Definition at line 82 of file twist_mux.h.

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

• twist_mux.h
• twist_mux.cpp