occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle Class Reference

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

#include <occupancy_map_monitor.hpp>

Inheritance diagram for occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle:

Public Types
using	SaveMapServiceCallback
using	LoadMapServiceCallback

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 79 of file occupancy_map_monitor.hpp.

Member Typedef Documentation

LoadMapServiceCallback

using occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback

Initial value:

 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 85 of file occupancy_map_monitor.hpp.

SaveMapServiceCallback

using occupancy_map_monitor::OccupancyMapMonitor::MiddlewareHandle::SaveMapServiceCallback

Initial value:

 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 82 of file occupancy_map_monitor.hpp.

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.

Here is the caller graph for this function:

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.

Here is the caller graph for this function:

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.

Here is the caller graph for this function:

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.

Here is the caller graph for this function:

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.

Here is the caller graph for this function:

---

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

• moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp