occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle Class Reference

This class contains the rcl interfaces for easier testing. More...

#include <occupancy_map_monitor.h>

Inheritance diagram for occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle:

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.
virtual Parameters	getParameters () const =0
	Gets the parameters struct.
virtual OccupancyMapUpdaterPtr	loadOccupancyMapUpdater (const std::string &sensor_plugin)=0
	Loads an occupancy map updater based on string.
virtual void	initializeOccupancyMapUpdater (OccupancyMapUpdaterPtr occupancy_map_updater)=0
	Initializes the occupancy map updater. Needed because of interface to OccupancyMapUpdater.
virtual void	createSaveMapService (SaveMapServiceCallback callback)=0
	Creates a save map service.
virtual void	createLoadMapService (LoadMapServiceCallback callback)=0
	Creates a load map service.

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()

virtual occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::~MiddlewareHandle ( )

virtualdefault

Destroys the object. Needed because this is pure virtual interface.

Member Function Documentation

createLoadMapService()

virtual void occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::createLoadMapService ( LoadMapServiceCallback  callback )

pure virtual

Creates a load map service.

Parameters

[in]

callback

The callback

Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.

createSaveMapService()

virtual void occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::createSaveMapService ( SaveMapServiceCallback  callback )

pure virtual

Creates a save map service.

Parameters

[in]

callback

The callback

Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.

getParameters()

virtual Parameters occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::getParameters ( ) const

pure virtual

Gets the parameters struct.

Returns

The parameters.

Implemented in occupancy_map_monitor::OccupancyMapMonitorMiddlewareHandle.

initializeOccupancyMapUpdater()

virtual void occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::initializeOccupancyMapUpdater ( OccupancyMapUpdaterPtr  occupancy_map_updater )

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()

virtual OccupancyMapUpdaterPtr occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::loadOccupancyMapUpdater ( const std::string &  sensor_plugin )

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.

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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