Template Class TopicHandle_

• Defined in File topic_handle.hpp

Class Documentation

template<typename T>
class twist_mux::TopicHandle_

Public Types

typedef int priority_type

Public Functions

TopicHandle_(TopicHandle_&) = delete

TopicHandle_(const TopicHandle_&) = delete

TopicHandle_ &operator=(TopicHandle_&) = delete

TopicHandle_ &operator=(const TopicHandle_&) = delete

inline TopicHandle_(const std::string &name, const std::string &topic, const rclcpp::Duration &timeout, priority_type priority, TwistMux *mux)

TopicHandle_.

Parameters

• nh – Node handle

• name – Name identifier

• topic – Topic name

• timeout – Timeout to consider that the messages are old; note that initially the message stamp is set to 0.0, so the message has expired

• priority – Priority of the topic

virtual ~TopicHandle_() = default

inline bool hasExpired() const

hasExpired

Returns

true if the message has expired; false otherwise. If the timeout is set to 0.0, this function always returns false

inline const std::string &getName() const

inline const std::string &getTopic() const

inline const rclcpp::Duration &getTimeout() const

inline const priority_type &getPriority() const

getPriority Priority getter

Returns

Priority

inline const T &getStamp() const

inline const T &getMessage() const

Protected Attributes

std::string name_

std::string topic_

rclcpp::Subscription<T>::SharedPtr subscriber_

rclcpp::Duration timeout_

priority_type priority_

TwistMux *mux_

rclcpp::Time stamp_

T msg_