modulo_core::JointPositionsBroadcaster Class Reference

The JointPositionsBroadcaster is a TF2 style class that publishes a collection of JointPositions messages to the fixed /joint_positions topic. More...

#include <JointPositionsBroadcaster.hpp>

Public Member Functions
template<class NodeT , class AllocatorT = std::allocator<void>>
	JointPositionsBroadcaster (NodeT &&node, const rclcpp::QoS &qos=rclcpp::QoS(1).transient_local(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=detail::get_default_joint_positions_options< rclcpp::PublisherOptionsWithAllocator< AllocatorT > >())
	Constructor of the JointPositionsBroadcaster with a node.
template<class AllocatorT = std::allocator<void>>
	JointPositionsBroadcaster (rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics, const rclcpp::QoS &qos=rclcpp::QoS(1).transient_local(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=detail::get_default_joint_positions_options< rclcpp::PublisherOptionsWithAllocator< AllocatorT > >())
	Constructor of the JointPositionsBroadcaster with node interfaces.
template<typename T >
void	send (const T &joint_positions)
	Send a JointPositions object.
template<typename T >
void	send (const std::vector< T > &joint_positions)
	Send a vector of JointPositions objects.
template<>
void	send (const std::vector< modulo_interfaces::msg::JointPositions > &joint_positions)
template<>
void	send (const std::vector< state_representation::JointPositions > &joint_positions)

Detailed Description

The JointPositionsBroadcaster is a TF2 style class that publishes a collection of JointPositions messages to the fixed /joint_positions topic.

Definition at line 21 of file JointPositionsBroadcaster.hpp.

Constructor & Destructor Documentation

JointPositionsBroadcaster() [1/2]

template<class NodeT , class AllocatorT = std::allocator<void>>

modulo_core::JointPositionsBroadcaster::JointPositionsBroadcaster ( NodeT && node, const rclcpp::QoS & qos = rclcpp::QoS(1).transient_local(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > & options = detail::get_default_joint_positions_options<rclcpp::PublisherOptionsWithAllocator<AllocatorT>>() )

inline

Constructor of the JointPositionsBroadcaster with a node.

Definition at line 27 of file JointPositionsBroadcaster.hpp.

JointPositionsBroadcaster() [2/2]

template<class AllocatorT = std::allocator<void>>

modulo_core::JointPositionsBroadcaster::JointPositionsBroadcaster ( rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics, const rclcpp::QoS & qos = rclcpp::QoS(1).transient_local(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > & options = detail::get_default_joint_positions_options<rclcpp::PublisherOptionsWithAllocator<AllocatorT>>() )

inline

Constructor of the JointPositionsBroadcaster with node interfaces.

Definition at line 39 of file JointPositionsBroadcaster.hpp.

Member Function Documentation

send() [1/4]

template<>

void modulo_core::JointPositionsBroadcaster::send

(

const std::vector< modulo_interfaces::msg::JointPositions > &

joint_positions

)

Definition at line 6 of file JointPositionsBroadcaster.cpp.

send() [2/4]

template<>

void modulo_core::JointPositionsBroadcaster::send

(

const std::vector< state_representation::JointPositions > &

joint_positions

)

Definition at line 14 of file JointPositionsBroadcaster.cpp.

send() [3/4]

template<typename T >

void modulo_core::JointPositionsBroadcaster::send

(

const std::vector< T > &

joint_positions

)

Send a vector of JointPositions objects.

Template Parameters

T	Type of the JointPositions objects

Parameters

joint_positions

The vector of JointPositions objects to send

send() [4/4]

template<typename T >

void modulo_core::JointPositionsBroadcaster::send ( const T & joint_positions )

inline

Send a JointPositions object.

Template Parameters

T	Type of the JointPositions object

Parameters

joint_positions

The JointPositions object to send

Definition at line 76 of file JointPositionsBroadcaster.hpp.

---

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

• /github/workspace/source/modulo_core/include/modulo_core/JointPositionsBroadcaster.hpp
• /github/workspace/source/modulo_core/src/JointPositionsBroadcaster.cpp