diff --git a/src/ros_publish-python-module-py.cc b/src/ros_publish-python-module-py.cc
index 1d952594976d93c99b5928e68865dddc940e6f27..a50e445c4ff6a4bc5a10250ad3f8ef9d67f675cd 100644
--- a/src/ros_publish-python-module-py.cc
+++ b/src/ros_publish-python-module-py.cc
@@ -8,5 +8,10 @@ BOOST_PYTHON_MODULE(wrap)
{
bp::import("dynamic_graph");
- dg::python::exposeEntity<dg::RosPublish, bp::bases<dg::Entity>, dg::python::AddCommands>() ;
+ dg::python::exposeEntity<dg::RosPublish, bp::bases<dg::Entity>, dg::python::AddCommands>()
+ .def("clear", &dg::RosPublish::clear, "Remove all signals writing data to a ROS topic")
+ .def("rm", &dg::RosPublish::rm, "Remove a signal writing data to a ROS topic",
+ bp::args("signal_name"))
+ .def("list", &dg::RosPublish::list, "List signals writing data to a ROS topic")
+ ;
}
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index dd5a134ca30330dcec1417dce72c9007007fd5fe..407d7145b366ad1427f6bf5ab74e181a84e7d65f 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -28,23 +28,6 @@ const double RosPublish::ROS_JOINT_STATE_PUBLISHER_RATE = 0.01;
namespace command {
namespace rosPublish {
-Clear::Clear(RosPublish& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value Clear::doExecute() {
- RosPublish& entity = static_cast<RosPublish&>(owner());
-
- entity.clear();
- return Value();
-}
-
-List::List(RosPublish& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value List::doExecute() {
- RosPublish& entity = static_cast<RosPublish&>(owner());
- return Value(entity.list());
-}
Add::Add(RosPublish& entity, const std::string& docstring)
: Command(entity, boost::assign::list_of(Value::STRING)(Value::STRING)(Value::STRING), docstring) {}
@@ -88,16 +71,6 @@ Value Add::doExecute() {
return Value();
}
-Rm::Rm(RosPublish& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value Rm::doExecute() {
- RosPublish& entity = static_cast<RosPublish&>(owner());
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.rm(signal);
- return Value();
-}
} // namespace rosPublish
} // end of namespace command.
@@ -143,29 +116,6 @@ RosPublish::RosPublish(const std::string& n)
" - topic: the topic name in ROS.\n"
"\n";
addCommand("add", new command::rosPublish::Add(*this, docstring));
- docstring =
- "\n"
- " Remove a signal writing data to 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::rosPublish::Rm(*this, docstring));
- docstring =
- "\n"
- " Remove all signals writing data to a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("clear", new command::rosPublish::Clear(*this, docstring));
- docstring =
- "\n"
- " List signals writing data to a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("list", new command::rosPublish::List(*this, docstring));
}
RosPublish::~RosPublish() { aofs_.close(); }
@@ -187,13 +137,10 @@ void RosPublish::rm(const std::string& signal) {
bindedSignal_.erase(signal);
}
-std::string RosPublish::list() const {
- std::string result("[");
- for (std::map<std::string, bindedSignal_t>::const_iterator it = bindedSignal_.begin(); it != bindedSignal_.end();
- it++) {
- result += "'" + it->first + "',";
- }
- result += "]";
+std::vector<std::string> RosPublish::list() const {
+ std::vector<std::string> result(bindedSignal_.size());
+ std::transform(bindedSignal_.begin(), bindedSignal_.end(),
+ result.begin(), [](const auto& pair) { return pair.first; });
return result;
}
diff --git a/src/ros_publish.hh b/src/ros_publish.hh
index 9b73716c772c97eb91f3ee5531d496959640e9ac..31b8cceede21b5c53fa6bbef15ee3f55678db4f4 100644
--- a/src/ros_publish.hh
+++ b/src/ros_publish.hh
@@ -34,9 +34,6 @@ using ::dynamicgraph::command::Value;
}
ROS_PUBLISH_MAKE_COMMAND(Add);
-ROS_PUBLISH_MAKE_COMMAND(Clear);
-ROS_PUBLISH_MAKE_COMMAND(List);
-ROS_PUBLISH_MAKE_COMMAND(Rm);
#undef ROS_PUBLISH_MAKE_COMMAND
@@ -62,7 +59,7 @@ class RosPublish : public dynamicgraph::Entity {
void add(const std::string& signal, const std::string& topic);
void rm(const std::string& signal);
- std::string list() const;
+ std::vector<std::string> list() const;
void clear();
int& trigger(int&, int);
diff --git a/src/ros_queued_subscribe-python-module-py.cc b/src/ros_queued_subscribe-python-module-py.cc
new file mode 100644
index 0000000000000000000000000000000000000000..00f2fb93f260f3712c2b167dabfe436523a515b9
--- /dev/null
+++ b/src/ros_queued_subscribe-python-module-py.cc
@@ -0,0 +1,25 @@
+#include <dynamic-graph/python/module.hh>
+#include "ros_queued_subscribe.hh"
+
+namespace dg = dynamicgraph;
+
+
+BOOST_PYTHON_MODULE(wrap)
+{
+ bp::import("dynamic_graph");
+
+ dg::python::exposeEntity<dg::RosQueuedSubscribe, bp::bases<dg::Entity>, dg::python::AddCommands>()
+ .def("clear", &dg::RosQueuedSubscribe::clear, "Remove all signals reading data from a ROS topic")
+ .def("rm", &dg::RosQueuedSubscribe::rm, "Remove a signal reading data from a ROS topic",
+ bp::args("signal_name"))
+ .def("list", &dg::RosQueuedSubscribe::list, "List signals reading data from a ROS topic")
+
+ .def("clearQueue", &dg::RosQueuedSubscribe::clearQueue,
+ "Empty the queue of a given signal", bp::args("signal_name"))
+ .def("queueSize", &dg::RosQueuedSubscribe::queueSize,
+ "Return the queue size of a given signal", bp::args("signal_name"))
+ .def("readQueue", &dg::RosQueuedSubscribe::queueSize,
+ "Whether signals should read values from the queues, and when.",
+ bp::args("start_time"))
+ ;
+}
diff --git a/src/ros_queued_subscribe-python.hh b/src/ros_queued_subscribe-python.hh
deleted file mode 100644
index e6880f8daf1c0b5447e9ec0cb92c1c8390fdd52b..0000000000000000000000000000000000000000
--- a/src/ros_queued_subscribe-python.hh
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "ros_queued_subscribe.hh"
-
-typedef boost::mpl::vector< dynamicgraph::RosQueuedSubscribe > entities_t;
diff --git a/src/ros_queued_subscribe.cpp b/src/ros_queued_subscribe.cpp
index 779d9d6c67e704748d05fba99f2ab3f8d17ef7df..f9ecaf5a2a03b1420285c7d0a7ad30b837d72cd1 100644
--- a/src/ros_queued_subscribe.cpp
+++ b/src/ros_queued_subscribe.cpp
@@ -24,37 +24,6 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosQueuedSubscribe, "RosQueuedSubscribe");
namespace command {
namespace rosQueuedSubscribe {
-Clear::Clear(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value Clear::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- entity.clear();
- return Value();
-}
-
-ClearQueue::ClearQueue(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value ClearQueue::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.clearQueue(signal);
-
- return Value();
-}
-
-List::List(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value List::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
- return Value(entity.list());
-}
-
Add::Add(RosQueuedSubscribe& entity, const std::string& docstring)
: Command(entity, boost::assign::list_of(Value::STRING)(Value::STRING)(Value::STRING), docstring) {}
@@ -84,42 +53,6 @@ Value Add::doExecute() {
throw std::runtime_error("bad type");
return Value();
}
-
-Rm::Rm(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value Rm::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.rm(signal);
- return Value();
-}
-
-QueueSize::QueueSize(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value QueueSize::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
-
- return Value((unsigned)entity.queueSize(signal));
-}
-
-ReadQueue::ReadQueue(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::INT), docstring) {}
-
-Value ReadQueue::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- int read = values[0].value();
- entity.readQueue(read);
-
- return Value();
-}
} // namespace rosQueuedSubscribe
} // end of namespace command.
@@ -141,53 +74,6 @@ RosQueuedSubscribe::RosQueuedSubscribe(const std::string& n)
" - topic: the topic name in ROS.\n"
"\n";
addCommand("add", new command::rosQueuedSubscribe::Add(*this, docstring));
- docstring =
- "\n"
- " Remove a signal reading 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::rosQueuedSubscribe::Rm(*this, docstring));
- docstring =
- "\n"
- " Remove all signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("clear", new command::rosQueuedSubscribe::Clear(*this, docstring));
- docstring =
- "\n"
- " List signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("list", new command::rosQueuedSubscribe::List(*this, docstring));
- docstring =
- "\n"
- " Empty the queue of a given signal\n"
- "\n"
- " Input is:\n"
- " - name of the signal (see method list for the list of signals).\n"
- "\n";
- addCommand("clearQueue", new command::rosQueuedSubscribe::ClearQueue(*this, docstring));
- docstring =
- "\n"
- " Return the queue size of a given signal\n"
- "\n"
- " Input is:\n"
- " - name of the signal (see method list for the list of signals).\n"
- "\n";
- addCommand("queueSize", new command::rosQueuedSubscribe::QueueSize(*this, docstring));
- docstring =
- "\n"
- " Whether signals should read values from the queues, and when.\n"
- "\n"
- " Input is:\n"
- " - int (dynamic graph time at which the reading begin).\n"
- "\n";
- addCommand("readQueue", new command::rosQueuedSubscribe::ReadQueue(*this, docstring));
}
RosQueuedSubscribe::~RosQueuedSubscribe() {}
@@ -206,13 +92,10 @@ void RosQueuedSubscribe::rm(const std::string& signal) {
}
}
-std::string RosQueuedSubscribe::list() {
- std::string result("[");
- for (std::map<std::string, bindedSignal_t>::const_iterator it = bindedSignal_.begin(); it != bindedSignal_.end();
- it++) {
- result += "'" + it->first + "',";
- }
- result += "]";
+std::vector<std::string> RosQueuedSubscribe::list() {
+ std::vector<std::string> result(bindedSignal_.size());
+ std::transform(bindedSignal_.begin(), bindedSignal_.end(),
+ result.begin(), [](const auto& pair) { return pair.first; });
return result;
}
diff --git a/src/ros_queued_subscribe.hh b/src/ros_queued_subscribe.hh
index 72c36a31e26a77c5b357ef3a9f3c47aa45c9be5a..ff0eb9f4437b425005fe64545e0286cadb80af8a 100644
--- a/src/ros_queued_subscribe.hh
+++ b/src/ros_queued_subscribe.hh
@@ -38,12 +38,6 @@ using ::dynamicgraph::command::Value;
}
ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Add);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Clear);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(List);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Rm);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(ClearQueue);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(QueueSize);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(ReadQueue);
#undef ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND
@@ -142,7 +136,7 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
void display(std::ostream& os) const;
void rm(const std::string& signal);
- std::string list();
+ std::vector<std::string> list();
void clear();
void clearQueue(const std::string& signal);
void readQueue(int beginReadingAt);
diff --git a/src/ros_subscribe-python-module-py.cc b/src/ros_subscribe-python-module-py.cc
new file mode 100644
index 0000000000000000000000000000000000000000..cbe164e5b46937607d1787c6e60913f26cbadcdb
--- /dev/null
+++ b/src/ros_subscribe-python-module-py.cc
@@ -0,0 +1,17 @@
+#include <dynamic-graph/python/module.hh>
+#include "ros_subscribe.hh"
+
+namespace dg = dynamicgraph;
+
+
+BOOST_PYTHON_MODULE(wrap)
+{
+ bp::import("dynamic_graph");
+
+ dg::python::exposeEntity<dg::RosSubscribe, bp::bases<dg::Entity>, dg::python::AddCommands>()
+ .def("clear", &dg::RosSubscribe::clear, "Remove all signals reading data from a ROS topic")
+ .def("rm", &dg::RosSubscribe::rm, "Remove a signal reading data from a ROS topic",
+ bp::args("signal_name"))
+ .def("list", &dg::RosSubscribe::list, "List signals reading data from a ROS topic")
+ ;
+}
diff --git a/src/ros_subscribe-python.hh b/src/ros_subscribe-python.hh
deleted file mode 100644
index 4a0bb03afa8c34ef1bf178534179698ea40e91b7..0000000000000000000000000000000000000000
--- a/src/ros_subscribe-python.hh
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "ros_subscribe.hh"
-
-typedef boost::mpl::vector< dynamicgraph::RosSubscribe > entities_t;
diff --git a/src/ros_subscribe.cpp b/src/ros_subscribe.cpp
index f046af6dc30e08bd90b341e81806f2ec19eded30..cfa01a201002db721842351a21227276b8404b27 100644
--- a/src/ros_subscribe.cpp
+++ b/src/ros_subscribe.cpp
@@ -18,24 +18,6 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosSubscribe, "RosSubscribe");
namespace command {
namespace rosSubscribe {
-Clear::Clear(RosSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value Clear::doExecute() {
- RosSubscribe& entity = static_cast<RosSubscribe&>(owner());
-
- entity.clear();
- return Value();
-}
-
-List::List(RosSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value List::doExecute() {
- RosSubscribe& entity = static_cast<RosSubscribe&>(owner());
- return Value(entity.list());
-}
-
Add::Add(RosSubscribe& entity, const std::string& docstring)
: Command(entity, boost::assign::list_of(Value::STRING)(Value::STRING)(Value::STRING), docstring) {}
@@ -73,17 +55,6 @@ Value Add::doExecute() {
throw std::runtime_error("bad type");
return Value();
}
-
-Rm::Rm(RosSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value Rm::doExecute() {
- RosSubscribe& entity = static_cast<RosSubscribe&>(owner());
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.rm(signal);
- return Value();
-}
} // namespace rosSubscribe
} // end of namespace command.
@@ -106,29 +77,6 @@ RosSubscribe::RosSubscribe(const std::string& n) : dynamicgraph::Entity(n), nh_(
" - topic: the topic name in ROS.\n"
"\n";
addCommand("add", new command::rosSubscribe::Add(*this, docstring));
- docstring =
- "\n"
- " Remove a signal reading 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::rosSubscribe::Rm(*this, docstring));
- docstring =
- "\n"
- " Remove all signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("clear", new command::rosSubscribe::Clear(*this, docstring));
- docstring =
- "\n"
- " List signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("list", new command::rosSubscribe::List(*this, docstring));
}
RosSubscribe::~RosSubscribe() {}
@@ -147,13 +95,10 @@ void RosSubscribe::rm(const std::string& signal) {
}
}
-std::string RosSubscribe::list() {
- std::string result("[");
- for (std::map<std::string, bindedSignal_t>::const_iterator it = bindedSignal_.begin(); it != bindedSignal_.end();
- it++) {
- result += "'" + it->first + "',";
- }
- result += "]";
+std::vector<std::string> RosSubscribe::list() {
+ std::vector<std::string> result(bindedSignal_.size());
+ std::transform(bindedSignal_.begin(), bindedSignal_.end(),
+ result.begin(), [](const auto& pair) { return pair.first; });
return result;
}
diff --git a/src/ros_subscribe.hh b/src/ros_subscribe.hh
index c5fd7dbb976cbb7b1050fbe2e79174cb81f66618..1928e486bb4ec60793811b5228208b6d5be912bb 100644
--- a/src/ros_subscribe.hh
+++ b/src/ros_subscribe.hh
@@ -31,9 +31,6 @@ using ::dynamicgraph::command::Value;
}
ROS_SUBSCRIBE_MAKE_COMMAND(Add);
-ROS_SUBSCRIBE_MAKE_COMMAND(Clear);
-ROS_SUBSCRIBE_MAKE_COMMAND(List);
-ROS_SUBSCRIBE_MAKE_COMMAND(Rm);
#undef ROS_SUBSCRIBE_MAKE_COMMAND
@@ -62,7 +59,7 @@ class RosSubscribe : public dynamicgraph::Entity {
void add(const std::string& signal, const std::string& topic);
void rm(const std::string& signal);
- std::string list();
+ std::vector<std::string> list();
void clear();
template <typename T>
diff --git a/src/ros_tf_listener-python-module-py.cc b/src/ros_tf_listener-python-module-py.cc
new file mode 100644
index 0000000000000000000000000000000000000000..3815f4530df6fe81bc1f273b3bdc777dca061f6a
--- /dev/null
+++ b/src/ros_tf_listener-python-module-py.cc
@@ -0,0 +1,18 @@
+#include <dynamic-graph/python/module.hh>
+#include "ros_tf_listener.hh"
+
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap)
+{
+ bp::import("dynamic_graph");
+
+ dg::python::exposeEntity<dg::RosTfListener, bp::bases<dg::Entity>, dg::python::AddCommands>()
+ .def("add", &dg::RosTfListener::add,
+ "Add a signal containing the transform between two frames.",
+ bp::args( "to_frame_name", "from_frame_name", "out_signal_name"))
+ .def("setMaximumDelay", &dg::RosTfListener::setMaximumDelay,
+ "Set the maximum time delay of the transform obtained from tf.",
+ bp::args("signal_name", "delay_seconds"))
+ ;
+}
diff --git a/src/ros_tf_listener-python.hh b/src/ros_tf_listener-python.hh
deleted file mode 100644
index 492d61ffbcaa383d36ecc7d7fd56a89f1bbcf56c..0000000000000000000000000000000000000000
--- a/src/ros_tf_listener-python.hh
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "ros_tf_listener.hh"
-
-typedef boost::mpl::vector< dynamicgraph::RosTfListener > entities_t;
diff --git a/src/ros_tf_listener.hh b/src/ros_tf_listener.hh
index a95907a097aa2d5d732476ecebba5c270bb68b83..778c812a1bfd42b67a6c95687000e568a162e8e2 100644
--- a/src/ros_tf_listener.hh
+++ b/src/ros_tf_listener.hh
@@ -72,31 +72,11 @@ class RosTfListener : public Entity {
: Entity(_name)
, buffer()
, listener(buffer, rosInit(), false)
- {
- std::string docstring =
- "\n"
- " Add a signal containing the transform between two frames.\n"
- "\n"
- " Input:\n"
- " - to : frame name\n"
- " - from: frame name,\n"
- " - signalName: the signal name in dynamic-graph"
- "\n";
- addCommand("add", command::makeCommandVoid3(*this, &RosTfListener::add, docstring));
- docstring =
- "\n"
- " Set the maximum time delay of the transform obtained from tf.\n"
- "\n"
- " Input:\n"
- " - signalName: the signal name,\n"
- " - delay : in seconds\n"
- "\n";
- addCommand("setMaximumDelay", command::makeCommandVoid2(*this, &RosTfListener::setMaximumDelay, docstring));
- }
+ {}
~RosTfListener()
{
- for (Map_t::const_iterator _it = listenerDatas.begin(); _it != listenerDatas.end(); ++_it) delete _it->second;
+ for (const auto& pair : listenerDatas) delete pair.second;
}
void add(const std::string& to, const std::string& from, const std::string& signame)