Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
#include <boost/bind.hpp>
#include <boost/format.hpp>
#include <boost/function.hpp>
#include <boost/make_shared.hpp>
#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <dynamic-graph/factory.h>
#include "ros_import.hh"
namespace dynamicgraph
{
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosImport, "RosImport");
RosImport::RosImport (const std::string& n)
: dynamicgraph::Entity(n),
nh_ (),
bindedSignal_ ()
{
int argc = 1;
char* arg0 = strdup("ros_import");
char* argv[] = {arg0, 0};
ros::init(argc, argv, "ros_import");
free (arg0);
nh_ = ros::NodeHandle ("dynamic_graph");
//ros::Publisher blob_pub = n.advertise<hueblob::Blob>("blob", 1000);
// ros::Rate loop_rate(10);
// while (ros::ok())
// {
// hueblob::Blob blob;
// blob_pub.publish(blob);
// ros::spinOnce();
// loop_rate.sleep();
// }
}
RosImport::~RosImport ()
{
}
void RosImport::display (std::ostream& os) const
{
os << CLASS_NAME << std::endl;
}
void RosImport::commandLine (const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os)
{
std::string signal;
std::string topic;
if (cmdLine == "help")
{
os << "RosImport: "<< std::endl
<< " - add <SIGNAL> <TOPIC>" << std::endl;
Entity::commandLine (cmdLine, cmdArgs, os);
}
else if (cmdLine == "add")
{
cmdArgs >> signal >> topic;
add<double> (signal, topic);
}
else if (cmdLine == "rm")
{
cmdArgs >> signal >> topic;
rm (signal, topic);
}
else if (cmdLine == "clear")
clear ();
else if (cmdLine == "list")
list ();
else
Entity::commandLine (cmdLine, cmdArgs, os);
}
const std::string& RosImport::getClassName ()
{
return CLASS_NAME;
}
void RosImport::rm (const std::string& signal, const std::string& topic)
{
}
void RosImport::list ()
{
std::cout << CLASS_NAME << std::endl;
}
void RosImport::clear ()
{
bindedSignal_.clear ();
}
} // end of namespace dynamicgraph.