Apollo 10.0
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apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 模板类 参考abstract

#include <convert_apollo_single.h>

类 apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 继承关系图:
apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 的协作图:

Public 成员函数

 ApolloRosMessageConverter ()
 
 ~ApolloRosMessageConverter () override
 
bool Init () override
 
- Public 成员函数 继承自 apollo::cyber::MessageConverter
 MessageConverter ()
 
virtual ~MessageConverter ()
 
bool IsInit () const
 

Protected 成员函数

virtual bool ConvertMsg (InputTypes< std::shared_ptr< InType0 > > &input, OutputTypes< std::shared_ptr< OutType0 > > &output)=0
 
- Protected 成员函数 继承自 apollo::cyber::MessageConverter
bool LoadConfig (ConverterConf *config)
 

额外继承的成员函数

- Protected 属性 继承自 apollo::cyber::MessageConverter
std::atomic< bool > init_
 
std::unique_ptr< apollo::cyber::Nodecyber_node_
 
std::vector< std::shared_ptr< apollo::cyber::proto::RoleAttributes > > apollo_attrs_
 
std::vector< std::shared_ptr< apollo::cyber::ReaderBase > > apollo_readers_
 
std::vector< std::shared_ptr< apollo::cyber::WriterBase > > apollo_writers_
 
const std::string node_name_ = "converter_base"
 
ConverterConf converter_conf_
 

详细描述

template<typename InType0, typename OutType0>
class apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >

在文件 convert_apollo_single.h34 行定义.

构造及析构函数说明

◆ ApolloRosMessageConverter()

template<typename InType0 , typename OutType0 >
apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::ApolloRosMessageConverter ( )
inline

在文件 convert_apollo_single.h38 行定义.

38{}

◆ ~ApolloRosMessageConverter()

template<typename InType0 , typename OutType0 >
apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::~ApolloRosMessageConverter ( )
inlineoverride

在文件 convert_apollo_single.h39 行定义.

39{}

成员函数说明

◆ ConvertMsg()

template<typename InType0 , typename OutType0 >
virtual bool apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::ConvertMsg ( InputTypes< std::shared_ptr< InType0 > > &  input,
OutputTypes< std::shared_ptr< OutType0 > > &  output 
)
protectedpure virtual

◆ Init()

template<typename InType0 , typename OutType0 >
bool apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::Init ( )
overridevirtual

重载 apollo::cyber::MessageConverter .

在文件 convert_apollo_single.h50 行定义.

50 {
52 if (!init_.load()) {
53 return false;
54 }
56 return false;
57 }
58
59 apollo::cyber::ReaderConfig reader_cfg_0;
61
62 std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
63
64#ifdef RCLCPP__RCLCPP_HPP_
65 auto ros_publisher_0 =
66 ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
67 // ros_publishers_.push_back(ros_publisher_0);
68 auto func = [this, ros_publisher_0](const std::shared_ptr<InType0> in) {
69#else
70 auto func = [this](const std::shared_ptr<InType0> in) {
71#endif
72 std::shared_ptr<OutType0> out(new OutType0);
73 auto in_container =
74 InputTypes<std::shared_ptr<InType0>>{std::make_tuple(in)};
75 auto out_container =
76 OutputTypes<std::shared_ptr<OutType0>>{std::make_tuple(out)};
77 this->ConvertMsg(in_container, out_container);
78 AERROR << "out of convert";
79#ifdef RCLCPP__RCLCPP_HPP_
80 ros_publisher_0->publish(*out);
81#endif
82 AERROR << "after ros publish";
83 };
84 auto apollo_reader_0 =
85 cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
86 apollo_readers_.push_back(std::move(apollo_reader_0));
87
88 return true;
89}
virtual bool ConvertMsg(InputTypes< std::shared_ptr< InType0 > > &input, OutputTypes< std::shared_ptr< OutType0 > > &output)=0
std::unique_ptr< apollo::cyber::Node > cyber_node_
std::vector< std::shared_ptr< apollo::cyber::ReaderBase > > apollo_readers_
bool LoadConfig(ConverterConf *config)
#define AERROR
Definition log.h:44

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