apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > > 模板类 参考

#include <convert_ros_quadruple.h>

类 apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > > 继承关系图:

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > > 的协作图:

Public 成员函数
	RosApolloMessageConverter ()
	~RosApolloMessageConverter () 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 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > > &input, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > &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::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

template<typename InType0, typename InType1, typename InType2, typename InType3, typename OutType0, typename OutType1, typename OutType2>
class apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

在文件 convert_ros_quadruple.h 第 269 行定义.

构造及析构函数说明

RosApolloMessageConverter()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 , typename OutType2 >

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >::RosApolloMessageConverter ( )

inline

在文件 convert_ros_quadruple.h 第 287 行定义.

{}

~RosApolloMessageConverter()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 , typename OutType2 >

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >::~RosApolloMessageConverter ( )

inlineoverride

在文件 convert_ros_quadruple.h 第 288 行定义.

{}

成员函数说明

ConvertMsg()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 , typename OutType2 >

virtual bool apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >::ConvertMsg ( InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > > &  input, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > &  output  )

protectedpure virtual

Init()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 , typename OutType2 >

bool apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >::Init ( )

inlineoverridevirtual

重载 apollo::cyber::MessageConverter .

在文件 convert_ros_quadruple.h 第 290 行定义.

                       {
    MessageConverter::Init();
    if (!init_.load()) {
      return false;
    }
    if (!LoadConfig(&converter_conf_)) {
      return false;
    }
 
    apollo_attrs_.push_back(
        std::make_shared<apollo::cyber::proto::RoleAttributes>());
    apollo_attrs_[0]->set_channel_name(converter_conf_.apollo_channel_name_0());
 
    apollo_attrs_.push_back(
        std::make_shared<apollo::cyber::proto::RoleAttributes>());
    apollo_attrs_[1]->set_channel_name(converter_conf_.apollo_channel_name_1());
 
    apollo_attrs_.push_back(
        std::make_shared<apollo::cyber::proto::RoleAttributes>());
    apollo_attrs_[2]->set_channel_name(converter_conf_.apollo_channel_name_2());
 
    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
    auto ros_topic_name_1 = converter_conf_.ros_topic_name_1();
    auto ros_topic_name_2 = converter_conf_.ros_topic_name_2();
    auto ros_topic_name_3 = converter_conf_.ros_topic_name_3();
 
    apollo_writer_0_ =
        cyber_node_->template CreateWriter<OutType0>(*apollo_attrs_[0]);
    apollo_writer_1_ =
        cyber_node_->template CreateWriter<OutType1>(*apollo_attrs_[1]);
    apollo_writer_2_ =
        cyber_node_->template CreateWriter<OutType2>(*apollo_attrs_[2]);
#ifdef RCLCPP__RCLCPP_HPP_
    ros_msg_subs_.push_back(
        std::move(std::make_shared<message_filters::Subscriber<InType0>>(
            ros_node_, ros_topic_name_0)));
    ros_msg_subs_.push_back(
        std::move(std::make_shared<message_filters::Subscriber<InType1>>(
            ros_node_, ros_topic_name_1)));
    ros_msg_subs_.push_back(
        std::move(std::make_shared<message_filters::Subscriber<InType2>>(
            ros_node_, ros_topic_name_2)));
    ros_msg_subs_.push_back(
        std::move(std::make_shared<message_filters::Subscriber<InType3>>(
            ros_node_, ros_topic_name_3)));
    syncApproximate_ = std::make_shared<
        message_filters::Synchronizer<approximate_sync_policy>>(
        approximate_sync_policy(10),
        *dynamic_cast<message_filters::Subscriber<InType0>*>(
            ros_msg_subs_[0].get()),
        *dynamic_cast<message_filters::Subscriber<InType1>*>(
            ros_msg_subs_[1].get()),
        *dynamic_cast<message_filters::Subscriber<InType2>*>(
            ros_msg_subs_[2].get()),
        *dynamic_cast<message_filters::Subscriber<InType3>*>(
            ros_msg_subs_[3].get()));
    syncApproximate_->registerCallback(
        &RosApolloMessageConverter<
            InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
                       std::shared_ptr<InType2>, std::shared_ptr<InType3>>,
            OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>,
                        std::shared_ptr<OutType2>>>::TopicCallback,
        this);
 
    ros_spin_thread_ =
        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
#endif
    return true;
  }

---

该类的文档由以下文件生成:

• cyber/ros_bridge/converter_base/convert_ros_quadruple.h