Class Diagrams

The following class diagram of the soar_ros::Service class (inheritance diagram) provides a basic overview of the library architecture.

All ROS wrapper classes adjusted for usage with Soar are based on the input or output base classes as well as the shared interface.

template<typename T, typename pRequestType = typename T::Request::SharedPtr, typename pResponseType = typename T::Response::SharedPtr>
class Service : public virtual soar_ros::Input<typename T::Request::SharedPtr>, public virtual soar_ros::Output<typename T::Response::SharedPtr>, public soar_ros::Interface

Inheritence diagram for soar_ros::Service:

Collaboration diagram for soar_ros::Service:

The difference between service and client from the libraries perspective is only the reversal of output and input calls.

template<typename T, typename pRequestType = typename T::Request::SharedPtr, typename pResponseType = typename T::Response::SharedPtr>
class Client : public virtual soar_ros::Output<typename T::Request::SharedPtr>, public virtual soar_ros::Input<typename T::Response::SharedPtr>, public soar_ros::Interface

Inheritence diagram for soar_ros::Client:

Collaboration diagram for soar_ros::Client:

Publisher and subscriber only have either the input or the output functionality:

template<typename T>
class Publisher : public soar_ros::Output<T>, public soar_ros::Interface

Inheritence diagram for soar_ros::Publisher:

Collaboration diagram for soar_ros::Publisher:

template<typename T>
class Subscriber : public soar_ros::Input<T>, public soar_ros::Interface

Inheritence diagram for soar_ros::Subscriber:

Collaboration diagram for soar_ros::Subscriber: