planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle Class Reference

Dependency injection class for testing the CurrentStateMonitor. More...

#include <current_state_monitor.h>

Inheritance diagram for planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle:

Public Types
using	TfCallback = std::function< void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)>

Public Member Functions
virtual	~MiddlewareHandle ()=default
	Destroys the object.
virtual rclcpp::Time	now () const =0
	Get the current time.
virtual void	createJointStateSubscription (const std::string &topic, JointStateUpdateCallback callback)=0
	Creates a joint state subscription.
virtual void	createStaticTfSubscription (TfCallback callback)=0
	Creates a static transform message subscription.
virtual void	createDynamicTfSubscription (TfCallback callback)=0
	Creates a dynamic transform message subscription.
virtual void	resetJointStateSubscription ()=0
	Reset the joint state subscription.
virtual std::string	getJointStateTopicName () const =0
	Get the joint state topic name.
virtual bool	sleepFor (const std::chrono::nanoseconds &nanoseconds) const =0
	Block for the specified amount of time.
virtual bool	ok () const =0
	Uses rclcpp::ok to check the context status.
virtual std::string	getStaticTfTopicName () const =0
	Get the static transform topic name.
virtual std::string	getDynamicTfTopicName () const =0
	Get the dynamic transform topic name.
virtual void	resetTfSubscriptions ()=0
	Reset the static & dynamic transform subscriptions.

Detailed Description

Dependency injection class for testing the CurrentStateMonitor.

Definition at line 67 of file current_state_monitor.h.

Member Typedef Documentation

TfCallback

using planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::TfCallback = std::function<void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)>

Definition at line 70 of file current_state_monitor.h.

Constructor & Destructor Documentation

~MiddlewareHandle()

virtual planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::~MiddlewareHandle ( )

virtualdefault

Destroys the object.

Member Function Documentation

createDynamicTfSubscription()

virtual void planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::createDynamicTfSubscription ( TfCallback  callback )

pure virtual

Creates a dynamic transform message subscription.

Parameters

[in]

callback

The callback

createJointStateSubscription()

virtual void planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::createJointStateSubscription ( const std::string &  topic, JointStateUpdateCallback  callback  )

pure virtual

Creates a joint state subscription.

Parameters

[in]	topic	The topic
[in]	callback	The callback

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

createStaticTfSubscription()

virtual void planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::createStaticTfSubscription ( TfCallback  callback )

pure virtual

Creates a static transform message subscription.

Parameters

[in]

callback

The callback

getDynamicTfTopicName()

virtual std::string planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::getDynamicTfTopicName ( ) const

pure virtual

Get the dynamic transform topic name.

Returns

The dynamic transform topic name.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

getJointStateTopicName()

virtual std::string planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::getJointStateTopicName ( ) const

pure virtual

Get the joint state topic name.

Returns

The joint state topic name.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

getStaticTfTopicName()

virtual std::string planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::getStaticTfTopicName ( ) const

pure virtual

Get the static transform topic name.

Returns

The static transform topic name.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

now()

virtual rclcpp::Time planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::now ( ) const

pure virtual

Get the current time.

Returns

Time object representing the time when this is called

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

ok()

virtual bool planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::ok ( ) const

pure virtual

Uses rclcpp::ok to check the context status.

Returns

Return of rclcpp::ok

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

resetJointStateSubscription()

virtual void planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::resetJointStateSubscription ( )

pure virtual

Reset the joint state subscription.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

resetTfSubscriptions()

virtual void planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::resetTfSubscriptions ( )

pure virtual

Reset the static & dynamic transform subscriptions.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

sleepFor()

virtual bool planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle::sleepFor ( const std::chrono::nanoseconds &  nanoseconds ) const

pure virtual

Block for the specified amount of time.

Parameters

[in]

nanoseconds

The nanoseconds to sleep

Returns

True if sleep happened as expected.

Implemented in planning_scene_monitor::CurrentStateMonitorMiddlewareHandle.

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

• moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h