This class contains the rcl interfaces for easier testing. More...
#include <occupancy_map_monitor.h>
Public Types | |
| using | SaveMapServiceCallback = std::function< bool(const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< moveit_msgs::srv::SaveMap::Request > request, std::shared_ptr< moveit_msgs::srv::SaveMap::Response > response)> |
| using | LoadMapServiceCallback = std::function< bool(const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< moveit_msgs::srv::LoadMap::Request > request, std::shared_ptr< moveit_msgs::srv::LoadMap::Response > response)> |
Public Member Functions | |
| virtual | ~MiddlewareHandle ()=default |
| Destroys the object. Needed because this is pure virtual interface. More... | |
| virtual Parameters | getParameters () const =0 |
| Gets the parameters struct. More... | |
| virtual OccupancyMapUpdaterPtr | loadOccupancyMapUpdater (const std::string &sensor_plugin)=0 |
| Loads an occupancy map updater based on string. More... | |
| virtual void | initializeOccupancyMapUpdater (OccupancyMapUpdaterPtr occupancy_map_updater)=0 |
| Initializes the occupancy map updater. Needed because of interface to OccupancyMapUpdater. More... | |
| virtual void | createSaveMapService (SaveMapServiceCallback callback)=0 |
| Creates a save map service. More... | |
| virtual void | createLoadMapService (LoadMapServiceCallback callback)=0 |
| Creates a load map service. More... | |
Detailed Description
This class contains the rcl interfaces for easier testing.
Definition at line 72 of file occupancy_map_monitor.h.
Member Typedef Documentation
◆ LoadMapServiceCallback
| using occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback = std::function<bool(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<moveit_msgs::srv::LoadMap::Request> request, std::shared_ptr<moveit_msgs::srv::LoadMap::Response> response)> |
Definition at line 78 of file occupancy_map_monitor.h.
◆ SaveMapServiceCallback
| using occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback = std::function<bool(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<moveit_msgs::srv::SaveMap::Request> request, std::shared_ptr<moveit_msgs::srv::SaveMap::Response> response)> |
Definition at line 75 of file occupancy_map_monitor.h.
Constructor & Destructor Documentation
◆ ~MiddlewareHandle()
|
virtualdefault |
Destroys the object. Needed because this is pure virtual interface.
Member Function Documentation
◆ createLoadMapService()
|
pure virtual |
Creates a load map service.
- Parameters
-
[in] callback The callback
Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.
◆ createSaveMapService()
|
pure virtual |
Creates a save map service.
- Parameters
-
[in] callback The callback
Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.
◆ getParameters()
|
pure virtual |
Gets the parameters struct.
- Returns
- The parameters.
Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.
◆ initializeOccupancyMapUpdater()
|
pure virtual |
Initializes the occupancy map updater. Needed because of interface to OccupancyMapUpdater.
- Parameters
-
[in] occupancy_map_updater The occupancy map updater
Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.
◆ loadOccupancyMapUpdater()
|
pure virtual |
Loads an occupancy map updater based on string.
- Parameters
-
[in] sensor_plugin The sensor plugin string.
- Returns
- The occupancy map updater pointer.
Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.
The documentation for this class was generated from the following file:
- moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.h
