#include <baseapp.h>
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_ |
Base class for ros nodes - Baseapp provides functions that can be used by derived ros nodes. It handles the communication with the scheduler node.
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inline |
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inlinevirtual |
addTimerCallback - add a function that should be called periodically
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inlinestatic |
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inline |
getParam - retrieve ros parameter
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inline |
getParam - retrieve ros parameter with default
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inlinestatic |
getRosNodeHandle - return ros::NodeHandle pointer
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inline |
init - initializes the ros node
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inline |
initSim - intilizes functionalites for simulation
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inlinevirtual |
pause - pauses updating the upper time bound
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inlinevirtual |
resume - resumes updating the upper time bound
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inlinevirtual |
run
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inlinestatic |
schedulerCallback - notifies scheduler of the new upper bound in time
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inlinestaticprivate |
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private |
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inlinestaticprivate |
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private |
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private |