naoqi::converter::JointStateConverter Class Reference

#include <joint_state.hpp>

Inheritance diagram for naoqi::converter::JointStateConverter:

Public Member Functions
	JointStateConverter (const std::string &name, const float &frequency, const BufferPtr &tf2_buffer, const qi::SessionPtr &session)
	~JointStateConverter ()
virtual void	reset ()
void	registerCallback (const message_actions::MessageAction action, Callback_t cb)
void	callAll (const std::vector< message_actions::MessageAction > &actions)
Public Member Functions inherited from naoqi::converter::BaseConverter< JointStateConverter >
	BaseConverter (const std::string &name, float frequency, qi::SessionPtr session)
virtual	~BaseConverter ()
std::string	name () const
float	frequency () const

Private Types
typedef boost::function< void(sensor_msgs::JointState &, std::vector< geometry_msgs::TransformStamped > &) >	Callback_t
typedef boost::shared_ptr< tf2_ros::Buffer >	BufferPtr

Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
void	setTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
void	setFixedTransforms (const std::string &tf_prefix, const ros::Time &time)

Private Attributes
std::map< std::string, robot_state_publisher::SegmentPair >	segments_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_fixed_
BufferPtr	tf2_buffer_
qi::AnyObject	p_motion_
std::map< message_actions::MessageAction, Callback_t >	callbacks_
std::string	robot_desc_
sensor_msgs::JointState	msg_joint_states_
std::vector< geometry_msgs::TransformStamped >	tf_transforms_

Additional Inherited Members
Protected Attributes inherited from naoqi::converter::BaseConverter< JointStateConverter >
std::string	name_
float	frequency_
const robot::Robot &	robot_
qi::SessionPtr	session_
bool	record_enabled_

Member Typedef Documentation

typedef boost::shared_ptr<tf2_ros::Buffer> naoqi::converter::JointStateConverter::BufferPtr

private

typedef boost::function<void(sensor_msgs::JointState&, std::vector<geometry_msgs::TransformStamped>&) > naoqi::converter::JointStateConverter::Callback_t

private

Constructor & Destructor Documentation

naoqi::converter::JointStateConverter::JointStateConverter	(	const std::string &	name,
		const float &	frequency,
		const BufferPtr &	tf2_buffer,
		const qi::SessionPtr &	session
	)

naoqi::converter::JointStateConverter::~JointStateConverter

(

)

Member Function Documentation

void naoqi::converter::JointStateConverter::addChildren ( const KDL::SegmentMap::const_iterator  segment )

private

blatently copied from robot state publisher

void naoqi::converter::JointStateConverter::callAll

(

const std::vector< message_actions::MessageAction > &

actions

)

JOINT STATE PUBLISHER

ROBOT STATE PUBLISHER

ODOMETRY

void naoqi::converter::JointStateConverter::registerCallback	(	const message_actions::MessageAction	action,
		Callback_t	cb
	)

void naoqi::converter::JointStateConverter::reset ( )

virtual

void naoqi::converter::JointStateConverter::setFixedTransforms ( const std::string &  tf_prefix, const ros::Time &  time  )

private

void naoqi::converter::JointStateConverter::setTransforms ( const std::map< std::string, double > &  joint_positions, const ros::Time &  time, const std::string &  tf_prefix  )

private

Field Documentation

std::map<message_actions::MessageAction, Callback_t> naoqi::converter::JointStateConverter::callbacks_

private

Registered Callbacks

sensor_msgs::JointState naoqi::converter::JointStateConverter::msg_joint_states_

private

JointState Message

qi::AnyObject naoqi::converter::JointStateConverter::p_motion_

private

Motion Proxy

std::string naoqi::converter::JointStateConverter::robot_desc_

private

Robot Description in xml format

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_

private

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_fixed_

private

BufferPtr naoqi::converter::JointStateConverter::tf2_buffer_

private

Global Shared tf2 buffer

std::vector<geometry_msgs::TransformStamped> naoqi::converter::JointStateConverter::tf_transforms_

private

Transform Messages

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

• /home/vrabaud/ros/ws_nao_dashboard/src/naoqi_driver/src/converters/joint_state.hpp
• /home/vrabaud/ros/ws_nao_dashboard/src/naoqi_driver/src/converters/joint_state.cpp