adore_if_ros_scheduling::Baseapp Class Reference

#include <baseapp.h>

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Public Member Functions
	Baseapp ()
void	init (int argc, char **argv, double rate, std::string nodename)
void	initSim ()
virtual void	resume ()
virtual void	pause ()
virtual void	run ()
virtual void	addTimerCallback (std::function< void()> &callbackFcn, double rate_factor=1.0)
template<typename T >
bool	getParam (const std::string name, T &val)
template<typename T >
bool	getParam (const std::string name, T &val, const T &default_val)

Static Public Member Functions
static void	schedulerCallback (const ros::TimerEvent &e)
static ros::NodeHandle *	getRosNodeHandle ()
static void	func (std::function< void()> &callback, const ros::TimerEvent &te)

Private Attributes
std::vector< ros::Timer >	timers_
bool	useScheduler_
double	rate_

Static Private Attributes
static ros::NodeHandle *	m_pN = 0
static adore_if_ros_scheduling::SchedulerNotificationManager *	snm_

Detailed Description

Base class for ros nodes - Baseapp provides functions that can be used by derived ros nodes. It handles the communication with the scheduler node.

Constructor & Destructor Documentation

Baseapp()

adore_if_ros_scheduling::Baseapp::Baseapp ( )

inline

Member Function Documentation

addTimerCallback()

virtual void adore_if_ros_scheduling::Baseapp::addTimerCallback ( std::function< void()> &  callbackFcn, double  rate_factor = 1.0  )

inlinevirtual

addTimerCallback - add a function that should be called periodically

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func()

static void adore_if_ros_scheduling::Baseapp::func ( std::function< void()> &  callback, const ros::TimerEvent &  te  )

inlinestatic

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getParam() [1/2]

template<typename T >

bool adore_if_ros_scheduling::Baseapp::getParam ( const std::string  name, T &  val  )

inline

getParam - retrieve ros parameter

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getParam() [2/2]

template<typename T >

bool adore_if_ros_scheduling::Baseapp::getParam ( const std::string  name, T &  val, const T &  default_val  )

inline

getParam - retrieve ros parameter with default

getRosNodeHandle()

static ros::NodeHandle* adore_if_ros_scheduling::Baseapp::getRosNodeHandle ( )

inlinestatic

getRosNodeHandle - return ros::NodeHandle pointer

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init()

void adore_if_ros_scheduling::Baseapp::init ( int  argc, char **  argv, double  rate, std::string  nodename  )

inline

init - initializes the ros node

initSim()

void adore_if_ros_scheduling::Baseapp::initSim ( )

inline

initSim - intilizes functionalites for simulation

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pause()

virtual void adore_if_ros_scheduling::Baseapp::pause ( )

inlinevirtual

pause - pauses updating the upper time bound

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resume()

virtual void adore_if_ros_scheduling::Baseapp::resume ( )

inlinevirtual

resume - resumes updating the upper time bound

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run()

virtual void adore_if_ros_scheduling::Baseapp::run ( )

inlinevirtual

run

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schedulerCallback()

static void adore_if_ros_scheduling::Baseapp::schedulerCallback ( const ros::TimerEvent &  e )

inlinestatic

schedulerCallback - notifies scheduler of the new upper bound in time

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Member Data Documentation

m_pN

ros::NodeHandle* adore_if_ros_scheduling::Baseapp::m_pN = 0

inlinestaticprivate

rate_

double adore_if_ros_scheduling::Baseapp::rate_

private

snm_

adore_if_ros_scheduling::SchedulerNotificationManager* adore_if_ros_scheduling::Baseapp::snm_

inlinestaticprivate

Initial value:

=
            0

timers_

std::vector<ros::Timer> adore_if_ros_scheduling::Baseapp::timers_

private

useScheduler_

bool adore_if_ros_scheduling::Baseapp::useScheduler_

private

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

• /home/fascar/temp/adore/adore_scheduling/adore_if_ros_scheduling/adore_if_ros_scheduling/include/adore_if_ros_scheduling/baseapp.h