diff --git a/CMakeLists.txt b/CMakeLists.txt
index b285ccf184642fe3c1dfe70809ecf384abc07b81..4384e5415b923d1063d0020300d33796c8c8ba14 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,8 +66,8 @@ include(cmake/python.cmake)
include_directories(${DYNAMIC_GRAPH_include_DIRS})
link_directories(${DYNAMIC_GRAPH_LIBRARY_DIRS})
-compile_plugin(ros_import)
-compile_plugin(ros_export)
+compile_plugin(ros_publish)
+compile_plugin(ros_subscribe)
compile_plugin(ros_time)
compile_plugin(ros_joint_state)
diff --git a/src/dynamic_graph/ros/__init__.py b/src/dynamic_graph/ros/__init__.py
index dc9d0eab021620080159d0310e8c085fde0cd72a..3a14f188bdab8b5d4fb1cd7bcd3a3589871f8bd1 100644
--- a/src/dynamic_graph/ros/__init__.py
+++ b/src/dynamic_graph/ros/__init__.py
@@ -1,6 +1,12 @@
-from ros_import import RosImport
-from ros_export import RosExport
+from ros_publish import RosPublish
+from ros_subscribe import RosSubscribe
from ros_joint_state import RosJointState
from robot_model import RosRobotModel
from ros import Ros
+
+# aliases, for retro compatibility
+ros_import = ros_publish
+ros_export = ros_subscribe
+from ros import RosPublish as RosImport
+from ros import RosSubscribe as RosExport
diff --git a/src/dynamic_graph/ros/ros.py b/src/dynamic_graph/ros/ros.py
index cfc9c28190952dc1d7de4a4d0a4b059b5194a9d9..9a0b9730789fb9d52ab25eb826beb482b3b1eff2 100644
--- a/src/dynamic_graph/ros/ros.py
+++ b/src/dynamic_graph/ros/ros.py
@@ -1,5 +1,5 @@
-from ros_import import RosImport
-from ros_export import RosExport
+from ros_publish import RosPublish
+from ros_subscribe import RosSubscribe
from ros_joint_state import RosJointState
from ros_time import RosTime
@@ -7,20 +7,28 @@ from dynamic_graph import plug
class Ros(object):
device = None
+ rosPublish = None
+ rosSubscribe = None
+ rosJointState = None
+
+ # aliases, for retro compatibility
rosImport = None
rosExport = None
- rosJointState = None
def __init__(self, robot, suffix = ''):
self.robot = robot
- self.rosImport = RosImport('rosImport{0}'.format(suffix))
- self.rosExport = RosExport('rosExport{0}'.format(suffix))
+ self.rosPublish = RosPublish('rosPublish{0}'.format(suffix))
+ self.rosSubscribe = RosSubscribe('rosSubscribe{0}'.format(suffix))
self.rosJointState = RosJointState('rosJointState{0}'.format(suffix))
self.rosJointState.retrieveJointNames(self.robot.dynamic.name)
self.rosTime = RosTime ('rosTime{0}'.format(suffix))
plug(self.robot.device.state, self.rosJointState.state)
self.robot.device.after.addSignal(
- '{0}.trigger'.format(self.rosImport.name))
+ '{0}.trigger'.format(self.rosPublish.name))
self.robot.device.after.addSignal(
'{0}.trigger'.format(self.rosJointState.name))
+
+ # aliases, for retro compatibility
+ self.rosImport=self.rosPublish
+ self.rosExport=self.rosSubscribe
diff --git a/src/ros_import.cpp b/src/ros_publish.cpp
similarity index 78%
rename from src/ros_import.cpp
rename to src/ros_publish.cpp
index 88279b0c17518566bf9173cf5c35b5e7464f2659..c7bc2122d1bea94043a6042677917082c176d393 100644
--- a/src/ros_import.cpp
+++ b/src/ros_publish.cpp
@@ -15,18 +15,18 @@
#include <dynamic-graph/command.h>
#include "dynamic_graph_bridge/ros_init.hh"
-#include "ros_import.hh"
+#include "ros_publish.hh"
namespace dynamicgraph
{
- DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosImport, "RosImport");
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosPublish, "RosPublish");
namespace command
{
- namespace rosImport
+ namespace rosPublish
{
Clear::Clear
- (RosImport& entity, const std::string& docstring)
+ (RosPublish& entity, const std::string& docstring)
: Command
(entity,
std::vector<Value::Type> (),
@@ -35,15 +35,15 @@ namespace dynamicgraph
Value Clear::doExecute ()
{
- RosImport& entity =
- static_cast<RosImport&> (owner ());
+ RosPublish& entity =
+ static_cast<RosPublish&> (owner ());
entity.clear ();
return Value ();
}
List::List
- (RosImport& entity, const std::string& docstring)
+ (RosPublish& entity, const std::string& docstring)
: Command
(entity,
std::vector<Value::Type> (),
@@ -52,13 +52,13 @@ namespace dynamicgraph
Value List::doExecute ()
{
- RosImport& entity =
- static_cast<RosImport&> (owner ());
+ RosPublish& entity =
+ static_cast<RosPublish&> (owner ());
return Value (entity.list ());
}
Add::Add
- (RosImport& entity, const std::string& docstring)
+ (RosPublish& entity, const std::string& docstring)
: Command
(entity,
boost::assign::list_of
@@ -68,8 +68,8 @@ namespace dynamicgraph
Value Add::doExecute ()
{
- RosImport& entity =
- static_cast<RosImport&> (owner ());
+ RosPublish& entity =
+ static_cast<RosPublish&> (owner ());
std::vector<Value> values = getParameterValues ();
const std::string& type = values[0].value ();
@@ -103,7 +103,7 @@ namespace dynamicgraph
}
Rm::Rm
- (RosImport& entity, const std::string& docstring)
+ (RosPublish& entity, const std::string& docstring)
: Command
(entity,
boost::assign::list_of (Value::STRING),
@@ -112,8 +112,8 @@ namespace dynamicgraph
Value Rm::doExecute ()
{
- RosImport& entity =
- static_cast<RosImport&> (owner ());
+ RosPublish& entity =
+ static_cast<RosPublish&> (owner ());
std::vector<Value> values = getParameterValues ();
const std::string& signal = values[0].value ();
entity.rm (signal);
@@ -122,17 +122,17 @@ namespace dynamicgraph
} // end of errorEstimator.
} // end of namespace command.
- const std::string RosImport::docstring_
- ("Import ROS topics as dynamic-graph signals.\n"
+ const std::string RosPublish::docstring_
+ ("Publish dynamic-graph signals as ROS topics.\n"
"\n"
- " Use command \"add\" to import a new ROS topic.\n");
+ " Use command \"add\" to publish a new ROS topic.\n");
- RosImport::RosImport (const std::string& n)
+ RosPublish::RosPublish (const std::string& n)
: dynamicgraph::Entity(n),
- // rosImport do not use callback so do not create a useless spinner.
+ // RosPublish do not use callback so do not create a useless spinner.
nh_ (rosInit (false)),
bindedSignal_ (),
- trigger_ (boost::bind (&RosImport::trigger, this, _1, _2),
+ trigger_ (boost::bind (&RosPublish::trigger, this, _1, _2),
sotNOSIGNAL,
MAKE_SIGNAL_STRING(name, true, "int", "trigger")),
rate_ (ROS_JOINT_STATE_PUBLISHER_RATE),
@@ -159,7 +159,7 @@ namespace dynamicgraph
" - topic: the topic name in ROS.\n"
"\n";
addCommand ("add",
- new command::rosImport::Add
+ new command::rosPublish::Add
(*this, docstring));
docstring =
"\n"
@@ -169,7 +169,7 @@ namespace dynamicgraph
" - name of the signal to remove (see method list for the list of signals).\n"
"\n";
addCommand ("rm",
- new command::rosImport::Rm
+ new command::rosPublish::Rm
(*this, docstring));
docstring =
"\n"
@@ -178,7 +178,7 @@ namespace dynamicgraph
" No input:\n"
"\n";
addCommand ("clear",
- new command::rosImport::Clear
+ new command::rosPublish::Clear
(*this, docstring));
docstring =
"\n"
@@ -187,25 +187,25 @@ namespace dynamicgraph
" No input:\n"
"\n";
addCommand ("list",
- new command::rosImport::List
+ new command::rosPublish::List
(*this, docstring));
}
- RosImport::~RosImport ()
+ RosPublish::~RosPublish ()
{
}
- void RosImport::display (std::ostream& os) const
+ void RosPublish::display (std::ostream& os) const
{
os << CLASS_NAME << std::endl;
}
- void RosImport::rm (const std::string& signal)
+ void RosPublish::rm (const std::string& signal)
{
bindedSignal_.erase (signal);
}
- std::string RosImport::list () const
+ std::string RosPublish::list () const
{
std::string result("[");
for (std::map<std::string, bindedSignal_t>::const_iterator it =
@@ -216,12 +216,12 @@ namespace dynamicgraph
return result;
}
- void RosImport::clear ()
+ void RosPublish::clear ()
{
bindedSignal_.clear ();
}
- int& RosImport::trigger (int& dummy, int t)
+ int& RosPublish::trigger (int& dummy, int t)
{
typedef std::map<std::string, bindedSignal_t>::iterator iterator_t;
@@ -237,7 +237,7 @@ namespace dynamicgraph
return dummy;
}
- std::string RosImport::getDocString () const
+ std::string RosPublish::getDocString () const
{
return docstring_;
}
diff --git a/src/ros_import.hh b/src/ros_publish.hh
similarity index 78%
rename from src/ros_import.hh
rename to src/ros_publish.hh
index 632bfd55ce44247b537a328954dc7364fbe78979..03a564599f988c25ca29ca43b6feea125bb4ac32 100644
--- a/src/ros_import.hh
+++ b/src/ros_publish.hh
@@ -1,5 +1,5 @@
-#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HH
-# define DYNAMIC_GRAPH_ROS_IMPORT_HH
+#ifndef DYNAMIC_GRAPH_ROS_PUBLISH_HH
+# define DYNAMIC_GRAPH_ROS_PUBLISH_HH
# include <iostream>
# include <map>
@@ -19,37 +19,37 @@
namespace dynamicgraph
{
- class RosImport;
+ class RosPublish;
namespace command
{
- namespace rosImport
+ namespace rosPublish
{
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
-# define ROS_IMPORT_MAKE_COMMAND(CMD) \
+# define ROS_PUBLISH_MAKE_COMMAND(CMD) \
class CMD : public Command \
{ \
public: \
- CMD (RosImport& entity, \
+ CMD (RosPublish& entity, \
const std::string& docstring); \
virtual Value doExecute (); \
}
- ROS_IMPORT_MAKE_COMMAND(Add);
- ROS_IMPORT_MAKE_COMMAND(Clear);
- ROS_IMPORT_MAKE_COMMAND(List);
- ROS_IMPORT_MAKE_COMMAND(Rm);
+ ROS_PUBLISH_MAKE_COMMAND(Add);
+ ROS_PUBLISH_MAKE_COMMAND(Clear);
+ ROS_PUBLISH_MAKE_COMMAND(List);
+ ROS_PUBLISH_MAKE_COMMAND(Rm);
-#undef ROS_IMPORT_MAKE_COMMAND
+#undef ROS_PUBLISH_MAKE_COMMAND
} // end of namespace errorEstimator.
} // end of namespace command.
/// \brief Publish dynamic-graph information into ROS.
- class RosImport : public dynamicgraph::Entity
+ class RosPublish : public dynamicgraph::Entity
{
DYNAMIC_GRAPH_ENTITY_DECL();
public:
@@ -62,8 +62,8 @@ namespace dynamicgraph
static const double ROS_JOINT_STATE_PUBLISHER_RATE = 1. / 100.;
- RosImport (const std::string& n);
- virtual ~RosImport ();
+ RosPublish (const std::string& n);
+ virtual ~RosPublish ();
virtual std::string getDocString () const;
void display (std::ostream& os) const;
@@ -97,5 +97,5 @@ namespace dynamicgraph
};
} // end of namespace dynamicgraph.
-# include "ros_import.hxx"
-#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HH
+# include "ros_publish.hxx"
+#endif //! DYNAMIC_GRAPH_ROS_PUBLISH_HH
diff --git a/src/ros_import.hxx b/src/ros_publish.hxx
similarity index 89%
rename from src/ros_import.hxx
rename to src/ros_publish.hxx
index 1ac821aebeceab374b76197e9f6a372d20fa85c2..9d28a31b31965f20477c85310c403242a7f2e9c9 100644
--- a/src/ros_import.hxx
+++ b/src/ros_publish.hxx
@@ -1,5 +1,5 @@
-#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HXX
-# define DYNAMIC_GRAPH_ROS_IMPORT_HXX
+#ifndef DYNAMIC_GRAPH_ROS_PUBLISH_HXX
+# define DYNAMIC_GRAPH_ROS_PUBLISH_HXX
# include <vector>
# include <std_msgs/Float64.h>
@@ -14,7 +14,7 @@ namespace dynamicgraph
{
template <>
inline void
- RosImport::sendData
+ RosPublish::sendData
<std::pair<sot::MatrixHomogeneous, ml::Vector> >
(boost::shared_ptr
<realtime_tools::RealtimePublisher
@@ -38,7 +38,7 @@ namespace dynamicgraph
template <typename T>
void
- RosImport::sendData
+ RosPublish::sendData
(boost::shared_ptr
<realtime_tools::RealtimePublisher
<typename SotToRos<T>::ros_t> > publisher,
@@ -54,7 +54,7 @@ namespace dynamicgraph
}
template <typename T>
- void RosImport::add (const std::string& signal, const std::string& topic)
+ void RosPublish::add (const std::string& signal, const std::string& topic)
{
typedef typename SotToRos<T>::sot_t sot_t;
typedef typename SotToRos<T>::ros_t ros_t;
@@ -81,7 +81,7 @@ namespace dynamicgraph
// Initialize the callback.
callback_t callback = boost::bind
- (&RosImport::sendData<T>,
+ (&RosPublish::sendData<T>,
this,
pubPtr,
signalPtr,
@@ -93,4 +93,4 @@ namespace dynamicgraph
} // end of namespace dynamicgraph.
-#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HXX
+#endif //! DYNAMIC_GRAPH_ROS_PUBLISH_HXX
diff --git a/src/ros_export.cpp b/src/ros_subscribe.cpp
similarity index 76%
rename from src/ros_export.cpp
rename to src/ros_subscribe.cpp
index aafa3e182aa6275905de23fc6459cabd0e0c421e..36791596de20c3469e18c817db94f756abd5ba8c 100644
--- a/src/ros_export.cpp
+++ b/src/ros_subscribe.cpp
@@ -11,18 +11,18 @@
#include <dynamic-graph/factory.h>
#include "dynamic_graph_bridge/ros_init.hh"
-#include "ros_export.hh"
+#include "ros_subscribe.hh"
namespace dynamicgraph
{
- DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosExport, "RosExport");
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosSubscribe, "RosSubscribe");
namespace command
{
- namespace rosExport
+ namespace rosSubscribe
{
Clear::Clear
- (RosExport& entity, const std::string& docstring)
+ (RosSubscribe& entity, const std::string& docstring)
: Command
(entity,
std::vector<Value::Type> (),
@@ -31,15 +31,15 @@ namespace dynamicgraph
Value Clear::doExecute ()
{
- RosExport& entity =
- static_cast<RosExport&> (owner ());
+ RosSubscribe& entity =
+ static_cast<RosSubscribe&> (owner ());
entity.clear ();
return Value ();
}
List::List
- (RosExport& entity, const std::string& docstring)
+ (RosSubscribe& entity, const std::string& docstring)
: Command
(entity,
std::vector<Value::Type> (),
@@ -48,13 +48,13 @@ namespace dynamicgraph
Value List::doExecute ()
{
- RosExport& entity =
- static_cast<RosExport&> (owner ());
+ RosSubscribe& entity =
+ static_cast<RosSubscribe&> (owner ());
return Value (entity.list ());
}
Add::Add
- (RosExport& entity, const std::string& docstring)
+ (RosSubscribe& entity, const std::string& docstring)
: Command
(entity,
boost::assign::list_of
@@ -64,8 +64,8 @@ namespace dynamicgraph
Value Add::doExecute ()
{
- RosExport& entity =
- static_cast<RosExport&> (owner ());
+ RosSubscribe& entity =
+ static_cast<RosSubscribe&> (owner ());
std::vector<Value> values = getParameterValues ();
const std::string& type = values[0].value ();
@@ -100,7 +100,7 @@ namespace dynamicgraph
}
Rm::Rm
- (RosExport& entity, const std::string& docstring)
+ (RosSubscribe& entity, const std::string& docstring)
: Command
(entity,
boost::assign::list_of (Value::STRING),
@@ -109,8 +109,8 @@ namespace dynamicgraph
Value Rm::doExecute ()
{
- RosExport& entity =
- static_cast<RosExport&> (owner ());
+ RosSubscribe& entity =
+ static_cast<RosSubscribe&> (owner ());
std::vector<Value> values = getParameterValues ();
const std::string& signal = values[0].value ();
entity.rm (signal);
@@ -119,12 +119,12 @@ namespace dynamicgraph
} // end of errorEstimator.
} // end of namespace command.
- const std::string RosExport::docstring_
- ("Export dynamic-graph signals as ROS topics.\n"
+ const std::string RosSubscribe::docstring_
+ ("Subscribe to a ROS topics and convert it into a dynamic-graph signals.\n"
"\n"
- " Use command \"add\" to export a new signal.\n");
+ " Use command \"add\" to subscribe to a new signal.\n");
- RosExport::RosExport (const std::string& n)
+ RosSubscribe::RosSubscribe (const std::string& n)
: dynamicgraph::Entity(n),
nh_ (rosInit (true)),
bindedSignal_ ()
@@ -141,7 +141,7 @@ namespace dynamicgraph
" - topic: the topic name in ROS.\n"
"\n";
addCommand ("add",
- new command::rosExport::Add
+ new command::rosSubscribe::Add
(*this, docstring));
docstring =
"\n"
@@ -151,7 +151,7 @@ namespace dynamicgraph
" - name of the signal to remove (see method list for the list of signals).\n"
"\n";
addCommand ("rm",
- new command::rosExport::Rm
+ new command::rosSubscribe::Rm
(*this, docstring));
docstring =
"\n"
@@ -160,7 +160,7 @@ namespace dynamicgraph
" No input:\n"
"\n";
addCommand ("clear",
- new command::rosExport::Clear
+ new command::rosSubscribe::Clear
(*this, docstring));
docstring =
"\n"
@@ -169,24 +169,24 @@ namespace dynamicgraph
" No input:\n"
"\n";
addCommand ("list",
- new command::rosExport::List
+ new command::rosSubscribe::List
(*this, docstring));
}
- RosExport::~RosExport ()
+ RosSubscribe::~RosSubscribe ()
{}
- void RosExport::display (std::ostream& os) const
+ void RosSubscribe::display (std::ostream& os) const
{
os << CLASS_NAME << std::endl;
}
- void RosExport::rm (const std::string& signal)
+ void RosSubscribe::rm (const std::string& signal)
{
bindedSignal_.erase (signal);
}
- std::string RosExport::list ()
+ std::string RosSubscribe::list ()
{
std::string result("[");
for (std::map<std::string, bindedSignal_t>::const_iterator it =
@@ -197,12 +197,12 @@ namespace dynamicgraph
return result;
}
- void RosExport::clear ()
+ void RosSubscribe::clear ()
{
bindedSignal_.clear ();
}
- std::string RosExport::getDocString () const
+ std::string RosSubscribe::getDocString () const
{
return docstring_;
}
diff --git a/src/ros_export.hh b/src/ros_subscribe.hh
similarity index 78%
rename from src/ros_export.hh
rename to src/ros_subscribe.hh
index bae0fac276f07798493fa7cee5108aeb2597df6f..480686c67524297d78777723c6eb3ab2dbbc8f86 100644
--- a/src/ros_export.hh
+++ b/src/ros_subscribe.hh
@@ -1,5 +1,5 @@
-#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HH
-# define DYNAMIC_GRAPH_ROS_EXPORT_HH
+#ifndef DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
+# define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
# include <iostream>
# include <map>
@@ -18,30 +18,30 @@
namespace dynamicgraph
{
- class RosExport;
+ class RosSubscribe;
namespace command
{
- namespace rosExport
+ namespace rosSubscribe
{
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
-# define ROS_EXPORT_MAKE_COMMAND(CMD) \
+# define ROS_SUBSCRIBE_MAKE_COMMAND(CMD) \
class CMD : public Command \
{ \
public: \
- CMD (RosExport& entity, \
+ CMD (RosSubscribe& entity, \
const std::string& docstring); \
virtual Value doExecute (); \
}
- ROS_EXPORT_MAKE_COMMAND(Add);
- ROS_EXPORT_MAKE_COMMAND(Clear);
- ROS_EXPORT_MAKE_COMMAND(List);
- ROS_EXPORT_MAKE_COMMAND(Rm);
+ ROS_SUBSCRIBE_MAKE_COMMAND(Add);
+ ROS_SUBSCRIBE_MAKE_COMMAND(Clear);
+ ROS_SUBSCRIBE_MAKE_COMMAND(List);
+ ROS_SUBSCRIBE_MAKE_COMMAND(Rm);
-#undef ROS_EXPORT_MAKE_COMMAND
+#undef ROS_SUBSCRIBE_MAKE_COMMAND
} // end of namespace errorEstimator.
} // end of namespace command.
@@ -54,7 +54,7 @@ namespace dynamicgraph
} // end of internal namespace.
/// \brief Publish ROS information in the dynamic-graph.
- class RosExport : public dynamicgraph::Entity
+ class RosSubscribe : public dynamicgraph::Entity
{
DYNAMIC_GRAPH_ENTITY_DECL();
typedef boost::posix_time::ptime ptime;
@@ -63,8 +63,8 @@ namespace dynamicgraph
boost::shared_ptr<ros::Subscriber> >
bindedSignal_t;
- RosExport (const std::string& n);
- virtual ~RosExport ();
+ RosSubscribe (const std::string& n);
+ virtual ~RosSubscribe ();
virtual std::string getDocString () const;
void display (std::ostream& os) const;
@@ -107,5 +107,5 @@ namespace dynamicgraph
};
} // end of namespace dynamicgraph.
-# include "ros_export.hxx"
-#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HH
+# include "ros_subscribe.hxx"
+#endif //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
diff --git a/src/ros_export.hxx b/src/ros_subscribe.hxx
similarity index 64%
rename from src/ros_export.hxx
rename to src/ros_subscribe.hxx
index 82ad056691aa4e302ce92cd3736d2122383313d0..3cdd85519fdac8ef0182ff4fb53b01de0f077445 100644
--- a/src/ros_export.hxx
+++ b/src/ros_subscribe.hxx
@@ -1,5 +1,5 @@
-#ifndef DYNAMIC_GRAPH_ROS_EXPORT_HXX
-# define DYNAMIC_GRAPH_ROS_EXPORT_HXX
+#ifndef DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX
+# define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX
# include <vector>
# include <boost/bind.hpp>
# include <boost/date_time/posix_time/posix_time.hpp>
@@ -17,7 +17,7 @@ namespace dynamicgraph
{
template <typename R, typename S>
void
- RosExport::callback
+ RosSubscribe::callback
(boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
const R& data)
{
@@ -29,7 +29,7 @@ namespace dynamicgraph
template <typename R>
void
- RosExport::callbackTimestamp
+ RosSubscribe::callbackTimestamp
(boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
const R& data)
{
@@ -43,7 +43,7 @@ namespace dynamicgraph
template <typename T>
struct Add
{
- void operator () (RosExport& rosExport,
+ void operator () (RosSubscribe& RosSubscribe,
const std::string& signal,
const std::string& topic)
{
@@ -52,36 +52,36 @@ namespace dynamicgraph
typedef typename SotToRos<T>::signalIn_t signal_t;
// Initialize the bindedSignal object.
- RosExport::bindedSignal_t bindedSignal;
+ RosSubscribe::bindedSignal_t bindedSignal;
// Initialize the signal.
- boost::format signalName ("RosExport(%1%)::%2%");
- signalName % rosExport.getName () % signal;
+ boost::format signalName ("RosSubscribe(%1%)::%2%");
+ signalName % RosSubscribe.getName () % signal;
boost::shared_ptr<signal_t> signal_
(new signal_t (0, signalName.str ()));
SotToRos<T>::setDefault(*signal_);
bindedSignal.first = signal_;
- rosExport.signalRegistration (*bindedSignal.first);
+ RosSubscribe.signalRegistration (*bindedSignal.first);
// Initialize the subscriber.
typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
callback_t callback = boost::bind
- (&RosExport::callback<ros_const_ptr_t, sot_t>,
- &rosExport, signal_, _1);
+ (&RosSubscribe::callback<ros_const_ptr_t, sot_t>,
+ &RosSubscribe, signal_, _1);
bindedSignal.second =
boost::make_shared<ros::Subscriber>
- (rosExport.nh ().subscribe (topic, 1, callback));
+ (RosSubscribe.nh ().subscribe (topic, 1, callback));
- rosExport.bindedSignal ()[signal] = bindedSignal;
+ RosSubscribe.bindedSignal ()[signal] = bindedSignal;
}
};
template <typename T>
struct Add<std::pair<T, ml::Vector> >
{
- void operator () (RosExport& rosExport,
+ void operator () (RosSubscribe& RosSubscribe,
const std::string& signal,
const std::string& topic)
{
@@ -92,72 +92,72 @@ namespace dynamicgraph
typedef typename SotToRos<type_t>::signalIn_t signal_t;
// Initialize the bindedSignal object.
- RosExport::bindedSignal_t bindedSignal;
+ RosSubscribe::bindedSignal_t bindedSignal;
// Initialize the signal.
- boost::format signalName ("RosExport(%1%)::%2%");
- signalName % rosExport.getName () % signal;
+ boost::format signalName ("RosSubscribe(%1%)::%2%");
+ signalName % RosSubscribe.getName () % signal;
boost::shared_ptr<signal_t> signal_
(new signal_t (0, signalName.str ()));
SotToRos<T>::setDefault(*signal_);
bindedSignal.first = signal_;
- rosExport.signalRegistration (*bindedSignal.first);
+ RosSubscribe.signalRegistration (*bindedSignal.first);
// Initialize the publisher.
typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
callback_t callback = boost::bind
- (&RosExport::callback<ros_const_ptr_t, sot_t>,
- &rosExport, signal_, _1);
+ (&RosSubscribe::callback<ros_const_ptr_t, sot_t>,
+ &RosSubscribe, signal_, _1);
bindedSignal.second =
boost::make_shared<ros::Subscriber>
- (rosExport.nh ().subscribe (topic, 1, callback));
+ (RosSubscribe.nh ().subscribe (topic, 1, callback));
- rosExport.bindedSignal ()[signal] = bindedSignal;
+ RosSubscribe.bindedSignal ()[signal] = bindedSignal;
// Timestamp.
- typedef dynamicgraph::SignalPtr<RosExport::ptime, int>
+ typedef dynamicgraph::SignalPtr<RosSubscribe::ptime, int>
signalTimestamp_t;
std::string signalTimestamp =
(boost::format ("%1%%2%") % signal % "Timestamp").str ();
// Initialize the bindedSignal object.
- RosExport::bindedSignal_t bindedSignalTimestamp;
+ RosSubscribe::bindedSignal_t bindedSignalTimestamp;
// Initialize the signal.
- boost::format signalNameTimestamp ("RosExport(%1%)::%2%");
- signalNameTimestamp % rosExport.name % signalTimestamp;
+ boost::format signalNameTimestamp ("RosSubscribe(%1%)::%2%");
+ signalNameTimestamp % RosSubscribe.name % signalTimestamp;
boost::shared_ptr<signalTimestamp_t> signalTimestamp_
(new signalTimestamp_t (0, signalNameTimestamp.str ()));
- RosExport::ptime zero (rosTimeToPtime (ros::Time (0, 0)));
+ RosSubscribe::ptime zero (rosTimeToPtime (ros::Time (0, 0)));
signalTimestamp_->setConstant (zero);
bindedSignalTimestamp.first = signalTimestamp_;
- rosExport.signalRegistration (*bindedSignalTimestamp.first);
+ RosSubscribe.signalRegistration (*bindedSignalTimestamp.first);
// Initialize the publisher.
typedef boost::function<void (const ros_const_ptr_t& data)> callback_t;
callback_t callbackTimestamp = boost::bind
- (&RosExport::callbackTimestamp<ros_const_ptr_t>,
- &rosExport, signalTimestamp_, _1);
+ (&RosSubscribe::callbackTimestamp<ros_const_ptr_t>,
+ &RosSubscribe, signalTimestamp_, _1);
bindedSignalTimestamp.second =
boost::make_shared<ros::Subscriber>
- (rosExport.nh ().subscribe (topic, 1, callbackTimestamp));
+ (RosSubscribe.nh ().subscribe (topic, 1, callbackTimestamp));
- rosExport.bindedSignal ()[signalTimestamp] = bindedSignalTimestamp;
+ RosSubscribe.bindedSignal ()[signalTimestamp] = bindedSignalTimestamp;
}
};
} // end of namespace internal.
template <typename T>
- void RosExport::add (const std::string& signal, const std::string& topic)
+ void RosSubscribe::add (const std::string& signal, const std::string& topic)
{
internal::Add<T> () (*this, signal, topic);
}
} // end of namespace dynamicgraph.
-#endif //! DYNAMIC_GRAPH_ROS_EXPORT_HXX
+#endif //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HXX