Modulo Core translation module for converting between ROS2 and state_representation data types. More...

Functions
void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::Accel &message)
	Convert a ROS geometry_msgs::msg::Accel to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::AccelStamped &message)
	Convert a ROS geometry_msgs::msg::AccelStamped to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::Pose &message)
	Convert a ROS geometry_msgs::msg::Pose to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::PoseStamped &message)
	Convert a ROS geometry_msgs::msg::PoseStamped to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::Transform &message)
	Convert a ROS geometry_msgs::msg::Transform to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::TransformStamped &message)
	Convert a ROS geometry_msgs::msg::TransformStamped to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::Twist &message)
	Convert a ROS geometry_msgs::msg::Twist to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::TwistStamped &message)
	Convert a ROS geometry_msgs::msg::TwistStamped to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::Wrench &message)
	Convert a ROS geometry_msgs::msg::Wrench to a CartesianState.

void	read_message (state_representation::CartesianState &state, const geometry_msgs::msg::WrenchStamped &message)
	Convert a ROS geometry_msgs::msg::WrenchStamped to a CartesianState.

void	read_message (state_representation::JointState &state, const sensor_msgs::msg::JointState &message)
	Convert a ROS sensor_msgs::msg::JointState to a JointState.

template<typename T , typename U >
void	read_message (state_representation::Parameter< T > &state, const U &message)
	Template function to convert a ROS std_msgs::msg::T to a Parameter<T>

void	read_message (bool &state, const std_msgs::msg::Bool &message)
	Convert a ROS std_msgs::msg::Bool to a boolean.

void	read_message (double &state, const std_msgs::msg::Float64 &message)
	Convert a ROS std_msgs::msg::Float64 to a double.

void	read_message (std::vector< double > &state, const std_msgs::msg::Float64MultiArray &message)
	Convert a ROS std_msgs::msg::Float64MultiArray to a vector of double.

void	read_message (int &state, const std_msgs::msg::Int32 &message)
	Convert a ROS std_msgs::msg::Int32 to an integer.

void	read_message (std::string &state, const std_msgs::msg::String &message)
	Convert a ROS std_msgs::msg::String to a string.

template<typename T >
void	read_message (T &state, const EncodedState &message)
	Convert a ROS std_msgs::msg::UInt8MultiArray message to a State using protobuf decoding.

template<typename T >
std::shared_ptr< T >	safe_dynamic_pointer_cast (std::shared_ptr< state_representation::State > &state)
	Safely downcast a base state pointer to a derived state pointer.

template<typename T >
void	safe_dynamic_cast (std::shared_ptr< state_representation::State > &state, std::shared_ptr< state_representation::State > &new_state)
	Update the value referenced by a state pointer from a new_state pointer.

template<typename StateT , typename NewStateT >
void	safe_spatial_state_conversion (std::shared_ptr< state_representation::State > &state, std::shared_ptr< state_representation::State > &new_state, std::function< void(StateT &, const NewStateT &)> conversion_callback={})
	Update the value referenced by a state pointer by dynamically casting and converting the value referenced by a new_state pointer.

template<typename StateT , typename NewStateT >
void	safe_state_with_names_conversion (std::shared_ptr< state_representation::State > &state, std::shared_ptr< state_representation::State > &new_state, std::function< void(StateT &, const NewStateT &)> conversion_callback={})
	Update the value referenced by a state pointer by dynamically casting and converting the value referenced by a new_state pointer.

template<>
void	read_message (std::shared_ptr< state_representation::State > &state, const EncodedState &message)

void	write_message (geometry_msgs::msg::Accel &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::Accel.

void	write_message (geometry_msgs::msg::AccelStamped &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::AccelStamped.

void	write_message (geometry_msgs::msg::Pose &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::Pose.

void	write_message (geometry_msgs::msg::PoseStamped &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::PoseStamped.

void	write_message (geometry_msgs::msg::Transform &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::Transform.

void	write_message (geometry_msgs::msg::TransformStamped &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::TransformStamped.

void	write_message (geometry_msgs::msg::Twist &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::Twist.

void	write_message (geometry_msgs::msg::TwistStamped &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::TwistStamped.

void	write_message (geometry_msgs::msg::Wrench &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::Wrench.

void	write_message (geometry_msgs::msg::WrenchStamped &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS geometry_msgs::msg::WrenchStamped.

void	write_message (sensor_msgs::msg::JointState &message, const state_representation::JointState &state, const rclcpp::Time &time)
	Convert a JointState to a ROS sensor_msgs::msg::JointState.

void	write_message (tf2_msgs::msg::TFMessage &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
	Convert a CartesianState to a ROS tf2_msgs::msg::TFMessage.

template<typename U , typename T >
void	write_message (U &message, const state_representation::Parameter< T > &state, const rclcpp::Time &)
	Convert a Parameter<T> to a ROS equivalent representation.

void	write_message (std_msgs::msg::Bool &message, const bool &state, const rclcpp::Time &time)
	Convert a boolean to a ROS std_msgs::msg::Bool.

void	write_message (std_msgs::msg::Float64 &message, const double &state, const rclcpp::Time &time)
	Convert a double to a ROS std_msgs::msg::Float64.

void	write_message (std_msgs::msg::Float64MultiArray &message, const std::vector< double > &state, const rclcpp::Time &time)
	Convert a vector of double to a ROS std_msgs::msg::Float64MultiArray.

void	write_message (std_msgs::msg::Int32 &message, const int &state, const rclcpp::Time &time)
	Convert an integer to a ROS std_msgs::msg::Int32.

void	write_message (std_msgs::msg::String &message, const std::string &state, const rclcpp::Time &time)
	Convert a string to a ROS std_msgs::msg::String.

template<typename T >
void	write_message (EncodedState &message, const T &state, const rclcpp::Time &)
	Convert a state to an EncodedState (std_msgs::msg::UInt8MultiArray) message using protobuf encoding.

void	copy_parameter_value (const std::shared_ptr< const state_representation::ParameterInterface > &source_parameter, const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Copy the value of one parameter interface into another.

rclcpp::Parameter	write_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Write a ROS Parameter from a ParameterInterface pointer.

std::shared_ptr< state_representation::ParameterInterface >	read_parameter (const rclcpp::Parameter &ros_parameter)
	Create a new ParameterInterface from a ROS Parameter object.

std::shared_ptr< state_representation::ParameterInterface >	read_parameter_const (const rclcpp::Parameter &ros_parameter, const std::shared_ptr< const state_representation::ParameterInterface > &parameter)
	Update the parameter value of a ParameterInterface from a ROS Parameter object only if the two parameters have the same name and the ROS Parameter value can be interpreted as a ParameterInterface value.

void	read_parameter (const rclcpp::Parameter &ros_parameter, const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Update the parameter value of a ParameterInterface from a ROS Parameter object.

rclcpp::ParameterType	get_ros_parameter_type (const state_representation::ParameterType &parameter_type)
	Given a state representation parameter type, get the corresponding ROS parameter type.

void	write_message (geometry_msgs::msg::Accel &message, const CartesianState &state, const rclcpp::Time &)

void	write_message (geometry_msgs::msg::AccelStamped &message, const CartesianState &state, const rclcpp::Time &time)

void	write_message (geometry_msgs::msg::Pose &message, const CartesianState &state, const rclcpp::Time &)

void	write_message (geometry_msgs::msg::PoseStamped &message, const CartesianState &state, const rclcpp::Time &time)

void	write_message (geometry_msgs::msg::Transform &message, const CartesianState &state, const rclcpp::Time &)

void	write_message (geometry_msgs::msg::TransformStamped &message, const CartesianState &state, const rclcpp::Time &time)

void	write_message (geometry_msgs::msg::Twist &message, const CartesianState &state, const rclcpp::Time &)

void	write_message (geometry_msgs::msg::TwistStamped &message, const CartesianState &state, const rclcpp::Time &time)

void	write_message (geometry_msgs::msg::Wrench &message, const CartesianState &state, const rclcpp::Time &)

void	write_message (geometry_msgs::msg::WrenchStamped &message, const CartesianState &state, const rclcpp::Time &time)

void	write_message (sensor_msgs::msg::JointState &message, const JointState &state, const rclcpp::Time &time)

void	write_message (tf2_msgs::msg::TFMessage &message, const CartesianState &state, const rclcpp::Time &time)

template<typename U , typename T >
void	write_message (U &message, const Parameter< T > &state, const rclcpp::Time &)

template void	write_message< std_msgs::msg::Float64, double > (std_msgs::msg::Float64 &message, const Parameter< double > &state, const rclcpp::Time &)

template void	write_message< std_msgs::msg::Float64MultiArray, std::vector< double > > (std_msgs::msg::Float64MultiArray &message, const Parameter< std::vector< double > > &state, const rclcpp::Time &)

template void	write_message< std_msgs::msg::Bool, bool > (std_msgs::msg::Bool &message, const Parameter< bool > &state, const rclcpp::Time &)

template void	write_message< std_msgs::msg::String, std::string > (std_msgs::msg::String &message, const Parameter< std::string > &state, const rclcpp::Time &)

template<>
void	write_message (geometry_msgs::msg::Transform &message, const Parameter< CartesianPose > &state, const rclcpp::Time &time)

template<>
void	write_message (geometry_msgs::msg::TransformStamped &message, const Parameter< CartesianPose > &state, const rclcpp::Time &time)

template<>
void	write_message (tf2_msgs::msg::TFMessage &message, const Parameter< CartesianPose > &state, const rclcpp::Time &time)

void	copy_parameter_value (const std::shared_ptr< const ParameterInterface > &source_parameter, const std::shared_ptr< ParameterInterface > &parameter)

rclcpp::Parameter	write_parameter (const std::shared_ptr< ParameterInterface > &parameter)

std::shared_ptr< ParameterInterface >	read_parameter_const (const rclcpp::Parameter &ros_parameter, const std::shared_ptr< const ParameterInterface > &parameter)

void	read_parameter (const rclcpp::Parameter &ros_parameter, const std::shared_ptr< ParameterInterface > &parameter)

rclcpp::ParameterType	get_ros_parameter_type (const ParameterType &parameter_type)

Detailed Description

Modulo Core translation module for converting between ROS2 and state_representation data types.

Function Documentation

◆ copy_parameter_value() [1/2]

void modulo_core::translators::copy_parameter_value	(	const std::shared_ptr< const ParameterInterface > &	source_parameter,
		const std::shared_ptr< ParameterInterface > &	parameter
	)

Definition at line 15 of file parameter_translators.cpp.

◆ copy_parameter_value() [2/2]

void modulo_core::translators::copy_parameter_value	(	const std::shared_ptr< const state_representation::ParameterInterface > &	source_parameter,
		const std::shared_ptr< state_representation::ParameterInterface > &	parameter
	)

Copy the value of one parameter interface into another.

When referencing a Parameter instance through a ParameterInterface pointer, it is necessary to know the parameter type to get or set the parameter value. Sometimes it is desirable to update the parameter value from another compatible ParameterInterface, while still preserving the reference to the original instance. This helper function calls the getters and setters of the appropriate parameter type to modify the value of the parameter instance while preserving the reference of the original pointer.

Parameters

source_parameter	The ParameterInterface with a value to copy
parameter	The destination ParameterInterface to be updated

Exceptions

modulo_core::exceptions::ParameterTranslationException if the copying failed

◆ get_ros_parameter_type() [1/2]

rclcpp::ParameterType modulo_core::translators::get_ros_parameter_type ( const ParameterType & parameter_type )

Definition at line 257 of file parameter_translators.cpp.

◆ get_ros_parameter_type() [2/2]

rclcpp::ParameterType modulo_core::translators::get_ros_parameter_type ( const state_representation::ParameterType & parameter_type )

Given a state representation parameter type, get the corresponding ROS parameter type.

Parameters

parameter_type The state representation parameter type

Returns: The corresponding ROS parameter type

◆ read_message() [1/19]

void modulo_core::translators::read_message	(	bool &	state,
		const std_msgs::msg::Bool &	message
	)

Convert a ROS std_msgs::msg::Bool to a boolean.

Parameters

state	The state to populate
message	The ROS message to read from

Definition at line 85 of file message_readers.cpp.

◆ read_message() [2/19]

void modulo_core::translators::read_message	(	double &	state,
		const std_msgs::msg::Float64 &	message
	)

Convert a ROS std_msgs::msg::Float64 to a double.

Parameters

state	The state to populate
message	The ROS message to read from

Definition at line 89 of file message_readers.cpp.

◆ read_message() [3/19]

void modulo_core::translators::read_message	(	int &	state,
		const std_msgs::msg::Int32 &	message
	)

Convert a ROS std_msgs::msg::Int32 to an integer.

Parameters

state	The state to populate
message	The ROS message to read from

Definition at line 97 of file message_readers.cpp.

◆ read_message() [4/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::Accel &	message
	)

Convert a ROS geometry_msgs::msg::Accel to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 17 of file message_readers.cpp.

◆ read_message() [5/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::AccelStamped &	message
	)

Convert a ROS geometry_msgs::msg::AccelStamped to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 22 of file message_readers.cpp.

◆ read_message() [6/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::Pose &	message
	)

Convert a ROS geometry_msgs::msg::Pose to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 27 of file message_readers.cpp.

◆ read_message() [7/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::PoseStamped &	message
	)

Convert a ROS geometry_msgs::msg::PoseStamped to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 32 of file message_readers.cpp.

◆ read_message() [8/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::Transform &	message
	)

Convert a ROS geometry_msgs::msg::Transform to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 37 of file message_readers.cpp.

◆ read_message() [9/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::TransformStamped &	message
	)

Convert a ROS geometry_msgs::msg::TransformStamped to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 42 of file message_readers.cpp.

◆ read_message() [10/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::Twist &	message
	)

Convert a ROS geometry_msgs::msg::Twist to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 48 of file message_readers.cpp.

◆ read_message() [11/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::TwistStamped &	message
	)

Convert a ROS geometry_msgs::msg::TwistStamped to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 53 of file message_readers.cpp.

◆ read_message() [12/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::Wrench &	message
	)

Convert a ROS geometry_msgs::msg::Wrench to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 58 of file message_readers.cpp.

◆ read_message() [13/19]

void modulo_core::translators::read_message	(	state_representation::CartesianState &	state,
		const geometry_msgs::msg::WrenchStamped &	message
	)

Convert a ROS geometry_msgs::msg::WrenchStamped to a CartesianState.

Parameters

state	The CartesianState to populate
message	The ROS message to read from

Definition at line 63 of file message_readers.cpp.

◆ read_message() [14/19]

void modulo_core::translators::read_message	(	state_representation::JointState &	state,
		const sensor_msgs::msg::JointState &	message
	)

Convert a ROS sensor_msgs::msg::JointState to a JointState.

Parameters

state	The JointState to populate
message	The ROS message to read from

Definition at line 68 of file message_readers.cpp.

◆ read_message() [15/19]

template<typename T , typename U >

void modulo_core::translators::read_message	(	state_representation::Parameter< T > &	state,
		const U &	message
	)

Template function to convert a ROS std_msgs::msg::T to a Parameter<T>

Template Parameters

T	All types of parameters supported in ROS std messages
U	All types of parameters supported in ROS std messages

Parameters

state	The Parameter<T> to populate
message	The ROS message to read from

Definition at line 115 of file message_readers.hpp.

◆ read_message() [16/19]

template<>

void modulo_core::translators::read_message	(	std::shared_ptr< state_representation::State > &	state,
		const EncodedState &	message
	)

inline

Definition at line 275 of file message_readers.hpp.

◆ read_message() [17/19]

void modulo_core::translators::read_message	(	std::string &	state,
		const std_msgs::msg::String &	message
	)

Convert a ROS std_msgs::msg::String to a string.

Parameters

state	The state to populate
message	The ROS message to read from

Definition at line 101 of file message_readers.cpp.

◆ read_message() [18/19]

void modulo_core::translators::read_message	(	std::vector< double > &	state,
		const std_msgs::msg::Float64MultiArray &	message
	)

Convert a ROS std_msgs::msg::Float64MultiArray to a vector of double.

Parameters

state	The state to populate
message	The ROS message to read from

Definition at line 93 of file message_readers.cpp.

◆ read_message() [19/19]

template<typename T >

void modulo_core::translators::read_message	(	T &	state,
		const EncodedState &	message
	)

inline

Convert a ROS std_msgs::msg::UInt8MultiArray message to a State using protobuf decoding.

Template Parameters

T	A state_representation::State type

Parameters

state	The state to populate
message	The ROS message to read from

Exceptions

modulo_core::exceptions::MessageTranslationException if the translation failed or is not supported.

Definition at line 162 of file message_readers.hpp.

◆ read_parameter() [1/3]

std::shared_ptr< ParameterInterface > modulo_core::translators::read_parameter ( const rclcpp::Parameter & ros_parameter )

Create a new ParameterInterface from a ROS Parameter object.

Parameters

ros_parameter The ROS parameter object to read

Exceptions

modulo_core::exceptions::ParameterTranslationException if the ROS parameter could not be read

Returns: A new ParameterInterface pointer

Definition at line 141 of file parameter_translators.cpp.

◆ read_parameter() [2/3]

void modulo_core::translators::read_parameter	(	const rclcpp::Parameter &	ros_parameter,
		const std::shared_ptr< ParameterInterface > &	parameter
	)

Definition at line 252 of file parameter_translators.cpp.

◆ read_parameter() [3/3]

void modulo_core::translators::read_parameter	(	const rclcpp::Parameter &	ros_parameter,
		const std::shared_ptr< state_representation::ParameterInterface > &	parameter
	)

Update the parameter value of a ParameterInterface from a ROS Parameter object.

The destination ParameterInterface must have a compatible parameter name and type.

Parameters

ros_parameter	The ROS parameter object to read
parameter	An existing ParameterInterface pointer

Exceptions

modulo_core::exceptions::ParameterTranslationException if the ROS parameter could not be read

◆ read_parameter_const() [1/2]

std::shared_ptr< ParameterInterface > modulo_core::translators::read_parameter_const	(	const rclcpp::Parameter &	ros_parameter,
		const std::shared_ptr< const ParameterInterface > &	parameter
	)

Definition at line 192 of file parameter_translators.cpp.

◆ read_parameter_const() [2/2]

std::shared_ptr< state_representation::ParameterInterface > modulo_core::translators::read_parameter_const	(	const rclcpp::Parameter &	ros_parameter,
		const std::shared_ptr< const state_representation::ParameterInterface > &	parameter
	)

Update the parameter value of a ParameterInterface from a ROS Parameter object only if the two parameters have the same name and the ROS Parameter value can be interpreted as a ParameterInterface value.

Parameters

ros_parameter	The ROS parameter object to read
parameter	An existing ParameterInterface pointer

Exceptions

modulo_core::exceptions::ParameterTranslationException if the ROS parameter could not be read

Returns: A new ParameterInterface pointer with the updated value

◆ safe_dynamic_cast()

template<typename T >

void modulo_core::translators::safe_dynamic_cast	(	std::shared_ptr< state_representation::State > &	state,
		std::shared_ptr< state_representation::State > &	new_state
	)

inline

Update the value referenced by a state pointer from a new_state pointer.

The base state and new_state pointers must reference state-derived instances of type T. This function dynamically downcasts each pointer to a pointer of the derived type and assigns the de-referenced value from the new_state parameter to the address of the state pointer.

Template Parameters

T	The derived state type

Parameters

state	A base state pointer referencing a state-derived instance to be modified
new_state	A base state pointer referencing a state-derived instance to be copied into the state parameter

Exceptions

modulo_core::exceptions::MessageTranslationException if either parameter cannot be cast to state type T

Definition at line 202 of file message_readers.hpp.

◆ safe_dynamic_pointer_cast()

template<typename T >

std::shared_ptr< T > modulo_core::translators::safe_dynamic_pointer_cast ( std::shared_ptr< state_representation::State > & state )

inline

Safely downcast a base state pointer to a derived state pointer.

This utility function asserts that result of the dynamic pointer cast is not null, and throws an exception otherwise. This helps to prevent uncaught segmentation faults from a null pointer dynamic cast result being passed to subsequent execution steps.

Template Parameters

T	The derived state type

Parameters

state A base state pointer referencing a state-derived instance

Exceptions

modulo_core::exceptions::MessageTranslationException if the dynamic cast results in a null pointer

Returns: The derived pointer of type T

Definition at line 182 of file message_readers.hpp.

◆ safe_spatial_state_conversion()

template<typename StateT , typename NewStateT >

void modulo_core::translators::safe_spatial_state_conversion	(	std::shared_ptr< state_representation::State > &	state,
		std::shared_ptr< state_representation::State > &	new_state,
		std::function< void(StateT &, const NewStateT &)>	conversion_callback = `{}`
	)

inline

Update the value referenced by a state pointer by dynamically casting and converting the value referenced by a new_state pointer.

This utility function is intended to help the conversion between spatial-state-derived instances encapsulated in base state pointers. It sets the name and reference frame of the referenced state instance from the new_state, and then passes the referenced values to a user-defined conversion callback function. For example, if state is referencing a CartesianPose instance A and new_state is referencing a CartesianState instance B, the conversion callback function should invoke A.set_pose(B.get_pose()).

Template Parameters

StateT	The derived spatial state type of the destination state
NewStateT	The derived spatial state type of the new state

Parameters

state	A base state pointer referencing a spatial-state-derived instance to be modified
new_state	A base state pointer referencing a spatial-state-derived instance to be converted into the state parameter
conversion_callback	A callback function taking parameters of type StateT and NewStateT, where the referenced StateT instance can be modified as needed from the NewStateT value

Definition at line 226 of file message_readers.hpp.

◆ safe_state_with_names_conversion()

template<typename StateT , typename NewStateT >

void modulo_core::translators::safe_state_with_names_conversion	(	std::shared_ptr< state_representation::State > &	state,
		std::shared_ptr< state_representation::State > &	new_state,
		std::function< void(StateT &, const NewStateT &)>	conversion_callback = `{}`
	)

inline

Update the value referenced by a state pointer by dynamically casting and converting the value referenced by a new_state pointer.

This utility function is intended to help the conversion between joint-state-derived instances encapsulated in base state pointers. It sets the name and joint names of the referenced state instance from the new_state, and then passes the referenced values to a user-defined conversion callback function. For example, if state is referencing a JointPositions instance A and new_state is referencing a JointState instance B, the conversion callback function should invoke A.set_positions(B.get_positions()).

Template Parameters

StateT	The derived joint state type of the destination state
NewStateT	The derived joint state type of the new state

Parameters

state	A base state pointer referencing a joint-state-derived instance to be modified
new_state	A base state pointer referencing a joint-state-derived instance to be converted into the state parameter
conversion_callback	A callback function taking parameters of type StateT and NewStateT, where the referenced StateT instance can be modified as needed from the NewStateT value

Definition at line 260 of file message_readers.hpp.

◆ write_message() [1/35]

template<typename T >

void modulo_core::translators::write_message	(	EncodedState &	message,
		const T &	state,
		const rclcpp::Time &
	)

inline

Convert a state to an EncodedState (std_msgs::msg::UInt8MultiArray) message using protobuf encoding.

Template Parameters

T	A state_representation::State type

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the translation failed or is not supported.

Definition at line 215 of file message_writers.hpp.

◆ write_message() [2/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Accel &	message,
		const CartesianState &	state,
		const rclcpp::Time &
	)

Definition at line 28 of file message_writers.cpp.

◆ write_message() [3/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Accel &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::Accel.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [4/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::AccelStamped &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 37 of file message_writers.cpp.

◆ write_message() [5/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::AccelStamped &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::AccelStamped.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [6/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Pose &	message,
		const CartesianState &	state,
		const rclcpp::Time &
	)

Definition at line 43 of file message_writers.cpp.

◆ write_message() [7/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Pose &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::Pose.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [8/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::PoseStamped &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 52 of file message_writers.cpp.

◆ write_message() [9/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::PoseStamped &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::PoseStamped.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [10/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Transform &	message,
		const CartesianState &	state,
		const rclcpp::Time &
	)

Definition at line 58 of file message_writers.cpp.

◆ write_message() [11/35]

template<>

void modulo_core::translators::write_message	(	geometry_msgs::msg::Transform &	message,
		const Parameter< CartesianPose > &	state,
		const rclcpp::Time &	time
	)

Definition at line 152 of file message_writers.cpp.

◆ write_message() [12/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Transform &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::Transform.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [13/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::TransformStamped &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 67 of file message_writers.cpp.

◆ write_message() [14/35]

template<>

void modulo_core::translators::write_message	(	geometry_msgs::msg::TransformStamped &	message,
		const Parameter< CartesianPose > &	state,
		const rclcpp::Time &	time
	)

Definition at line 158 of file message_writers.cpp.

◆ write_message() [15/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::TransformStamped &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::TransformStamped.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [16/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Twist &	message,
		const CartesianState &	state,
		const rclcpp::Time &
	)

Definition at line 75 of file message_writers.cpp.

◆ write_message() [17/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Twist &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::Twist.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [18/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::TwistStamped &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 84 of file message_writers.cpp.

◆ write_message() [19/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::TwistStamped &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::TwistStamped.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [20/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Wrench &	message,
		const CartesianState &	state,
		const rclcpp::Time &
	)

Definition at line 90 of file message_writers.cpp.

◆ write_message() [21/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::Wrench &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::Wrench.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [22/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::WrenchStamped &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 99 of file message_writers.cpp.

◆ write_message() [23/35]

void modulo_core::translators::write_message	(	geometry_msgs::msg::WrenchStamped &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS geometry_msgs::msg::WrenchStamped.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [24/35]

void modulo_core::translators::write_message	(	sensor_msgs::msg::JointState &	message,
		const JointState &	state,
		const rclcpp::Time &	time
	)

Definition at line 105 of file message_writers.cpp.

◆ write_message() [25/35]

void modulo_core::translators::write_message	(	sensor_msgs::msg::JointState &	message,
		const state_representation::JointState &	state,
		const rclcpp::Time &	time
	)

Convert a JointState to a ROS sensor_msgs::msg::JointState.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [26/35]

void modulo_core::translators::write_message	(	std_msgs::msg::Bool &	message,
		const bool &	state,
		const rclcpp::Time &	time
	)

Convert a boolean to a ROS std_msgs::msg::Bool.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Definition at line 168 of file message_writers.cpp.

◆ write_message() [27/35]

void modulo_core::translators::write_message	(	std_msgs::msg::Float64 &	message,
		const double &	state,
		const rclcpp::Time &	time
	)

Convert a double to a ROS std_msgs::msg::Float64.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Definition at line 172 of file message_writers.cpp.

◆ write_message() [28/35]

void modulo_core::translators::write_message	(	std_msgs::msg::Float64MultiArray &	message,
		const std::vector< double > &	state,
		const rclcpp::Time &	time
	)

Convert a vector of double to a ROS std_msgs::msg::Float64MultiArray.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Definition at line 176 of file message_writers.cpp.

◆ write_message() [29/35]

void modulo_core::translators::write_message	(	std_msgs::msg::Int32 &	message,
		const int &	state,
		const rclcpp::Time &	time
	)

Convert an integer to a ROS std_msgs::msg::Int32.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Definition at line 180 of file message_writers.cpp.

◆ write_message() [30/35]

void modulo_core::translators::write_message	(	std_msgs::msg::String &	message,
		const std::string &	state,
		const rclcpp::Time &	time
	)

Convert a string to a ROS std_msgs::msg::String.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Definition at line 184 of file message_writers.cpp.

◆ write_message() [31/35]

void modulo_core::translators::write_message	(	tf2_msgs::msg::TFMessage &	message,
		const CartesianState &	state,
		const rclcpp::Time &	time
	)

Definition at line 120 of file message_writers.cpp.

◆ write_message() [32/35]

template<>

void modulo_core::translators::write_message	(	tf2_msgs::msg::TFMessage &	message,
		const Parameter< CartesianPose > &	state,
		const rclcpp::Time &	time
	)

Definition at line 164 of file message_writers.cpp.

◆ write_message() [33/35]

void modulo_core::translators::write_message	(	tf2_msgs::msg::TFMessage &	message,
		const state_representation::CartesianState &	state,
		const rclcpp::Time &	time
	)

Convert a CartesianState to a ROS tf2_msgs::msg::TFMessage.

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_message() [34/35]

template<typename U , typename T >

void modulo_core::translators::write_message	(	U &	message,
		const Parameter< T > &	state,
		const rclcpp::Time &
	)

Definition at line 131 of file message_writers.cpp.

◆ write_message() [35/35]

template<typename U , typename T >

void modulo_core::translators::write_message	(	U &	message,
		const state_representation::Parameter< T > &	state,
		const rclcpp::Time &
	)

Convert a Parameter<T> to a ROS equivalent representation.

Template Parameters

T	All types of parameters supported in ROS std messages
U	All types of parameters supported in ROS std messages

Parameters

message	The ROS message to populate
state	The state to read from
time	The time of the message

Exceptions

modulo_core::exceptions::MessageTranslationException if the provided state is empty.

◆ write_parameter() [1/2]

rclcpp::Parameter modulo_core::translators::write_parameter ( const std::shared_ptr< ParameterInterface > & parameter )

Definition at line 89 of file parameter_translators.cpp.

◆ write_parameter() [2/2]

rclcpp::Parameter modulo_core::translators::write_parameter ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

Write a ROS Parameter from a ParameterInterface pointer.

Parameters

parameter The ParameterInterface pointer with a name and value

Exceptions

modulo_core::exceptions::ParameterTranslationException if the ROS parameter could not be written

Returns: A new ROS Parameter object

Functions

Detailed Description

Function Documentation

◆ copy_parameter_value() [1/2]

◆ copy_parameter_value() [2/2]

◆ get_ros_parameter_type() [1/2]

◆ get_ros_parameter_type() [2/2]

◆ read_message() [1/19]

◆ read_message() [2/19]

◆ read_message() [3/19]

◆ read_message() [4/19]

◆ read_message() [5/19]

◆ read_message() [6/19]

◆ read_message() [7/19]

◆ read_message() [8/19]

◆ read_message() [9/19]

◆ read_message() [10/19]

◆ read_message() [11/19]

◆ read_message() [12/19]

◆ read_message() [13/19]

◆ read_message() [14/19]

◆ read_message() [15/19]

◆ read_message() [16/19]

◆ read_message() [17/19]

◆ read_message() [18/19]

◆ read_message() [19/19]

◆ read_parameter() [1/3]

◆ read_parameter() [2/3]

◆ read_parameter() [3/3]

◆ read_parameter_const() [1/2]

◆ read_parameter_const() [2/2]

◆ safe_dynamic_cast()

◆ safe_dynamic_pointer_cast()

◆ safe_spatial_state_conversion()

◆ safe_state_with_names_conversion()

◆ write_message() [1/35]

◆ write_message() [2/35]

◆ write_message() [3/35]

◆ write_message() [4/35]

◆ write_message() [5/35]

◆ write_message() [6/35]

◆ write_message() [7/35]

◆ write_message() [8/35]

◆ write_message() [9/35]

◆ write_message() [10/35]

◆ write_message() [11/35]

◆ write_message() [12/35]

◆ write_message() [13/35]

◆ write_message() [14/35]

◆ write_message() [15/35]

◆ write_message() [16/35]

◆ write_message() [17/35]

◆ write_message() [18/35]

◆ write_message() [19/35]

◆ write_message() [20/35]

◆ write_message() [21/35]

◆ write_message() [22/35]

◆ write_message() [23/35]

◆ write_message() [24/35]

◆ write_message() [25/35]

◆ write_message() [26/35]

◆ write_message() [27/35]

◆ write_message() [28/35]

◆ write_message() [29/35]

◆ write_message() [30/35]

◆ write_message() [31/35]

◆ write_message() [32/35]

◆ write_message() [33/35]

◆ write_message() [34/35]

◆ write_message() [35/35]

◆ write_parameter() [1/2]

◆ write_parameter() [2/2]