apollo::cyber::RosApolloConverter类 参考

#include <ros_apollo_converter.h>

类 apollo::cyber::RosApolloConverter 继承关系图:

apollo::cyber::RosApolloConverter 的协作图:

Public 成员函数
	RosApolloConverter ()
	~RosApolloConverter ()
virtual bool	ConvertMsg (InputTypes< InputMsgPtr > &in, OutputTypes< OutputMsgPtr > &out)
	convert the message between ros and apollo
Public 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< InputMsgPtr >, OutputTypes< OutputMsgPtr > >
	RosApolloMessageConverter ()
	RosApolloMessageConverter ()
	~RosApolloMessageConverter () override
	~RosApolloMessageConverter () override
bool	Init () override
bool	Init () override
Public 成员函数 继承自 apollo::cyber::MessageConverter
	MessageConverter ()
virtual	~MessageConverter ()
bool	IsInit () const

额外继承的成员函数
Protected 成员函数 继承自 apollo::cyber::RosApolloMessageConverter< InputTypes< InputMsgPtr >, OutputTypes< OutputMsgPtr > >
virtual bool	ConvertMsg (const std::shared_ptr< InputTypes< InputMsgPtr > > &ros_msg0, const std::shared_ptr< OutputTypes< OutputMsgPtr > > &ros_msg1, const std::shared_ptr< NullType > &ros_msg2, const std::shared_ptr< NullType > &ros_msg3, std::shared_ptr< NullType > &apollo_msg0, std::shared_ptr< NullType > &apollo_msg1, std::shared_ptr< NullType > &apollo_msg2, std::shared_ptr< NullType > &apollo_msg3)=0
virtual bool	ConvertMsg (InputTypes &input, OutputTypes &output)=0
Protected 成员函数 继承自 apollo::cyber::MessageConverter
bool	LoadConfig (ConverterConf *config)
Protected 属性 继承自 apollo::cyber::MessageConverter
std::atomic< bool >	init_
std::unique_ptr< apollo::cyber::Node >	cyber_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

在文件 ros_apollo_converter.h 第 44 行定义.

构造及析构函数说明

RosApolloConverter()

apollo::cyber::RosApolloConverter::RosApolloConverter ( )

inline

在文件 ros_apollo_converter.h 第 48 行定义.

{}

~RosApolloConverter()

apollo::cyber::RosApolloConverter::~RosApolloConverter ( )

inline

在文件 ros_apollo_converter.h 第 49 行定义.

{}

成员函数说明

ConvertMsg()

bool apollo::cyber::RosApolloConverter::ConvertMsg ( InputTypes< InputMsgPtr > &  in, OutputTypes< OutputMsgPtr > &  out  )

virtual

convert the message between ros and apollo

参数

InputMsgPtr	shared pointer of input message
OutputMsgPtr	shared pointer of output message

返回

result, true for success

在文件 ros_apollo_converter.cc 第 22 行定义.

                                                                    {
#ifdef ENABLE_ROS_MSG
  auto in_msg = std::get<0>(in.values);
  auto out_msg = std::get<0>(out.values);
  out_msg->set_text(in_msg->data.c_str());
#endif
  return true;
}

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该类的文档由以下文件生成:

• cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.h
• cyber/ros_bridge/converters/examples/ros_apollo_converter/ros_apollo_converter.cc