Output node used to connect a ROS publisher to the computational graph. More...

#include <output_node.h>

Inheritance diagram for OutputROSNode< MSG_TYPE >:

Public Member Functions
	OutputROSNode (const std::string &id, bool publishFromCache=false, unsigned int computePeriod=1)
	Constructor. More...

std::string	typeStr () const override
	Returns the node 'type' as a string. More...

Public Member Functions inherited from OutputNode< MSG_TYPE >
	OutputNode (const std::string &id, OutputNodePolicies::PublishFormatPolicy publishFormatPolicy=OutputNodePolicies::PublishFormatPolicy::SERIES, bool publishFromCache=false, int maxPortConnections=0, unsigned int computePeriod=1)
	Constructor. More...

InputPort< T_IN, MSG_TYPE > *	getOrRegisterInput (const std::string &id)
	Gets or register input port to this node and returns a pointer to it. More...

unsigned int	getComputePeriod ()

void	setComputePeriod (unsigned int computePeriod)

bool	publishFromCache ()

virtual bool	doCompute () const override final
	Tells if this node should be executed in this graph execution cycle, used in some graph execution modes. More...

Public Member Functions inherited from ComputationalNode
	ComputationalNode ()=delete

virtual	~ComputationalNode ()=default

	ComputationalNode (std::string id, NodeType type)
	Constructor. More...

const std::string &	id () const
	Returns the node 'id'. More...

NodeType	type () const
	Returns the node 'type'. More...

void	setVisited (bool visited)
	Sets a value for the node 'visited' property, used for graph traversing. More...

bool	isVisited () const
	Returns true if the node has been marked as visited, false otherwise. More...

void	setDoCompute (bool doCompute)
	Sets a value for the node 'doCompute' property, used in some graph execution modes. More...

virtual bool	doCompute () const
	Tells if this node should be executed in this graph execution cycle, used in some graph execution modes. More...

Protected Member Functions
void	sendSingleMsg (const std::string &, const MSG_TYPE *data) override
	Sends out a single msg, to be implemented by derived classes. More...

void	sendBatchMsg (const std::string &, const std::vector< const MSG_TYPE * > &) override
	Sends out a vector of msg as a single batch, to be implemented by derived classes. More...

Protected Member Functions inherited from OutputNode< MSG_TYPE >
void	configure () override
	Configures the node making it ready to execute 'compute'. More...

virtual void	compute () override final
	Requests the node to execute its computation. More...

void	graphCycleStartCB () override final
	Function called by the Computational Graph at the beginning of a new execution cycle. More...

void	storeMsg (const std::string &id, const MSG_TYPE *data)
	Stores a new msg in _storedMsgs['id']. More...

void	sendMsgs (const std::string &id)
	Sends all msgs stored in _storedMsgs['id'] and clears the storage. More...

Protected Member Functions inherited from ComputationalNode
virtual void	graphLoadedCB ()
	Function called by the Computational Graph to nodes that the graph has been completely loaded. More...

Additional Inherited Members
Public Types inherited from ComputationalNode
enum	NodeType { Input, Output, Functional }
	All the possible node types. More...

Static Public Member Functions inherited from ComputationalNode
static std::pair< std::string, std::string >	parseNodeAddress (const std::string &address, bool hasPort=true)
	Parses a computational node address returning the node id and the port (if any) contained in the address. More...

Static Public Attributes inherited from ComputationalNode
const static std::map< NodeType, std::string >	nodeTypeStr

Protected Attributes inherited from OutputNode< MSG_TYPE >
std::map< std::string, std::shared_ptr< Port > >	_inputPorts
	List of ports owned by this node. More...

std::map< std::string, std::vector< const MSG_TYPE * > >	_storedMsgs
	List of msgs stored in this node. More...

OutputNodePolicies::PublishFormatPolicy	_publishFormatPolicy
	Send policy used by this node. More...

bool	_publishFromCache
	Publish frequency policy used by this node. More...

int	_maxPortConnections
	Maximum number of subscriptions of ports in this node. More...

bool	_isConfigured
	true if the node has been configured, false otherwise More...

unsigned int	_computePeriod
	Property specifying the number of loops that passes between executions of this node. More...

unsigned int	_nLoop
	Variable counting the number of times this nodes has been asked to execute (1 per loop) More...

Detailed Description

template<class MSG_TYPE>
class OutputROSNode< MSG_TYPE >

Output node used to connect a ROS publisher to the computational graph.

The template parameter MSG_TYPE is the ROS msg type this node can publish

Constructor & Destructor Documentation

◆ OutputROSNode()

template<class MSG_TYPE >

OutputROSNode< MSG_TYPE >::OutputROSNode	(	const std::string &	id,
		bool	publishFromCache = `false`,
		unsigned int	computePeriod = `1`
	)

inline

Constructor.

Member Function Documentation

◆ sendBatchMsg()

template<class MSG_TYPE >

void OutputROSNode< MSG_TYPE >::sendBatchMsg	(	const std::string &	id,
		const std::vector< const MSG_TYPE * > &	data
	)

inlineoverrideprotectedvirtual

Sends out a vector of msg as a single batch, to be implemented by derived classes.

Implements OutputNode< MSG_TYPE >.

◆ sendSingleMsg()

template<class MSG_TYPE >

void OutputROSNode< MSG_TYPE >::sendSingleMsg	(	const std::string &	id,
		const MSG_TYPE *	data
	)

inlineoverrideprotectedvirtual

Sends out a single msg, to be implemented by derived classes.

Implements OutputNode< MSG_TYPE >.

◆ typeStr()

template<class MSG_TYPE >

std::string OutputROSNode< MSG_TYPE >::typeStr ( ) const

inlineoverridevirtual

Returns the node 'type' as a string.

Reimplemented from ComputationalNode.

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

nrp_event_loop/nrp_event_loop/nodes/ros/output_node.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<class MSG_TYPE> class OutputROSNode< MSG_TYPE >

Constructor & Destructor Documentation

◆ OutputROSNode()

Member Function Documentation

◆ sendBatchMsg()

◆ sendSingleMsg()

◆ typeStr()

template<class MSG_TYPE>
class OutputROSNode< MSG_TYPE >