Class Converter

Defined in File converter.hpp

Class Documentation

class Converter

Public Functions

explicit Converter(const std::string &input_format, const std::string &output_format, std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory = std::make_shared<SerializationFormatConverterFactory>())

Converter(const ConverterOptions &converter_options, std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory = std::make_shared<SerializationFormatConverterFactory>())

~Converter()

std::shared_ptr<rosbag2_storage::SerializedBagMessage> convert(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message)

Converts the given SerializedBagMessage into the output format of the converter. The serialization format of the input message must be identical to the input format of the converter.

Parameters:: message – Message to convert
Returns:: Converted message

void add_topic(const std::string &topic, const std::string &type)

Register a topic and its type with the converter.

Parameters:

topic – The name of the topic.
type – The type of the topic.

std::string get_input_serialization_format() const

Returns:: The input serialization format of the converter.

std::string get_output_serialization_format() const

Returns:: The output serialization format of the converter.