apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 模板类 参考

#include <convert_ros_single.h>

类 apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 继承关系图:

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > > 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 > > &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::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 OutType0>
class apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >

在文件 convert_ros_single.h 第 32 行定义.

构造及析构函数说明

RosApolloMessageConverter()

template<typename InType0 , typename OutType0 >

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::RosApolloMessageConverter ( )

inline

在文件 convert_ros_single.h 第 39 行定义.

{}

~RosApolloMessageConverter()

template<typename InType0 , typename OutType0 >

apollo::cyber::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::~RosApolloMessageConverter ( )

inlineoverride

在文件 convert_ros_single.h 第 40 行定义.

{}

成员函数说明

ConvertMsg()

template<typename InType0 , typename OutType0 >

virtual bool apollo::cyber::RosApolloMessageConverter< 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::RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >::Init ( )

inlineoverridevirtual

重载 apollo::cyber::MessageConverter .

在文件 convert_ros_single.h 第 42 行定义.

                       {
    MessageConverter::Init();
    if (!init_.load()) {
      return false;
    }
    if (!LoadConfig(&converter_conf_)) {
      AERROR << "load config failed";
      return false;
    }
 
    auto writer_attrs =
        std::make_shared<apollo::cyber::proto::RoleAttributes>();
    writer_attrs->set_channel_name(converter_conf_.apollo_channel_name_0());
    apollo_attrs_.push_back(writer_attrs);
    auto ros_topic_name_0 = converter_conf_.ros_topic_name_0();
 
    apollo_writer_0_ =
        cyber_node_->template CreateWriter<OutType0>(*writer_attrs);
#ifdef RCLCPP__RCLCPP_HPP_
    ros_subscriptions_.push_back(
        std::move(ros_node_->create_subscription<InType0>(
            ros_topic_name_0, 10,
            std::bind(
                &RosApolloMessageConverter<
                    InputTypes<std::shared_ptr<InType0>>,
                    OutputTypes<std::shared_ptr<OutType0>>>::TopicCallback,
                this, std::placeholders::_1))));
    ros_spin_thread_ =
        std::make_shared<std::thread>(&MessageConverter::NodeSpin, this);
#endif
    return true;
  }

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该类的文档由以下文件生成:

• cyber/ros_bridge/converter_base/convert_ros_single.h