From 9c5419ba5880284acacb9c635caf5dabc95f0c13 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 13 Mar 2012 21:01:16 +0100
Subject: [PATCH] Document class RosImport and implement method list.
---
src/ros_import.cpp | 46 ++++++++++++++++++++++++++++++++++++++++------
src/ros_import.hh | 2 +-
2 files changed, 41 insertions(+), 7 deletions(-)
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index 6fdde8c..d5e19af 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -53,8 +53,7 @@ namespace dynamicgraph
{
RosImport& entity =
static_cast<RosImport&> (owner ());
- entity.list ();
- return Value ();
+ return Value (entity.list ());
}
Add::Add
@@ -134,16 +133,45 @@ namespace dynamicgraph
signalRegistration (trigger_);
trigger_.setNeedUpdateFromAllChildren (true);
- std::string docstring;
+ std::string docstring =
+ "\n"
+ " Add a signal importing data from a ROS topic\n"
+ "\n"
+ " Input:\n"
+ " - type: string among ['double', 'matrix', 'vector', 'vector3',\n"
+ " 'vector3Stamped', 'matrixHomo', 'matrixHomoStamped',\n"
+ " 'twist', 'twistStamped'],\n"
+ " - signal: the signal name in dynamic-graph,\n"
+ " - topic: the topic name in ROS.\n"
+ "\n";
addCommand ("add",
new command::rosImport::Add
(*this, docstring));
+ docstring =
+ "\n"
+ " Remove a signal importing data from a ROS topic\n"
+ "\n"
+ " Input:\n"
+ " - name of the signal to remove (see method list for the list of signals).\n"
+ "\n";
addCommand ("rm",
new command::rosImport::Rm
(*this, docstring));
+ docstring =
+ "\n"
+ " Remove all signals importing data from a ROS topic\n"
+ "\n"
+ " No input:\n"
+ "\n";
addCommand ("clear",
new command::rosImport::Clear
(*this, docstring));
+ docstring =
+ "\n"
+ " List signals importing data from a ROS topic\n"
+ "\n"
+ " No input:\n"
+ "\n";
addCommand ("list",
new command::rosImport::List
(*this, docstring));
@@ -163,10 +191,16 @@ namespace dynamicgraph
bindedSignal_.erase (signal);
}
- void RosImport::list ()
+ std::string RosImport::list () const
{
- std::cout << CLASS_NAME << std::endl;
- }
+ std::string result("[");
+ for (std::map<std::string, bindedSignal_t>::const_iterator it =
+ bindedSignal_.begin (); it != bindedSignal_.end (); it++) {
+ result += "'" + it->first + "',";
+ }
+ result += "]";
+ return result;
+ }
void RosImport::clear ()
{
diff --git a/src/ros_import.hh b/src/ros_import.hh
index c42723a..368b944 100644
--- a/src/ros_import.hh
+++ b/src/ros_import.hh
@@ -69,7 +69,7 @@ namespace dynamicgraph
void add (const std::string& signal, const std::string& topic);
void rm (const std::string& signal);
- void list ();
+ std::string list () const;
void clear ();
int& trigger (int&, int);
--
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