From f7f362df359f2f376892d76264c36bbde698bafe Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 16 Jun 2023 14:02:13 +0200
Subject: [PATCH] Use int64_t as type for signal time.
---
src/converter.hh | 6 +++
src/ros_publish.cpp | 4 +-
src/ros_publish.hh | 11 ++--
src/ros_publish.hxx | 6 +--
src/ros_queued_subscribe.cpp | 2 +-
src/ros_queued_subscribe.hh | 15 +++---
src/ros_queued_subscribe.hxx | 2 +-
src/ros_subscribe.cpp | 4 ++
src/ros_subscribe.hh | 8 +--
src/ros_subscribe.hxx | 6 +--
src/ros_tf_listener.cpp | 4 +-
src/ros_tf_listener.hh | 11 ++--
src/ros_time.cpp | 2 +-
src/ros_time.hh | 4 +-
src/sot_to_ros.cpp | 1 +
src/sot_to_ros.hh | 98 ++++++++++++++++++++++--------------
16 files changed, 109 insertions(+), 75 deletions(-)
diff --git a/src/converter.hh b/src/converter.hh
index 7728903..4a57f25 100644
--- a/src/converter.hh
+++ b/src/converter.hh
@@ -52,6 +52,11 @@ SOT_TO_ROS_IMPL(int) { dst.data = src; }
ROS_TO_SOT_IMPL(int) { dst = src.data; }
+// Int64
+SOT_TO_ROS_IMPL(int64_t) { dst.data = src; }
+
+ROS_TO_SOT_IMPL(int64_t) { dst = src.data; }
+
// Unsigned
SOT_TO_ROS_IMPL(unsigned int) { dst.data = src; }
@@ -190,6 +195,7 @@ DG_BRIDGE_TO_ROS_MAKE_STAMPED_IMPL(specific::Twist, twist, ;);
DG_BRIDGE_MAKE_SHPTR_IMPL(bool);
DG_BRIDGE_MAKE_SHPTR_IMPL(double);
DG_BRIDGE_MAKE_SHPTR_IMPL(int);
+DG_BRIDGE_MAKE_SHPTR_IMPL(int64_t);
DG_BRIDGE_MAKE_SHPTR_IMPL(unsigned int);
DG_BRIDGE_MAKE_SHPTR_IMPL(std::string);
DG_BRIDGE_MAKE_SHPTR_IMPL(Vector);
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index 41c66ad..1052af2 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -50,6 +50,8 @@ Value Add::doExecute() {
entity.add<unsigned int>(signal, topic);
else if (type == "int")
entity.add<int>(signal, topic);
+ else if (type == "int64")
+ entity.add<int64_t>(signal, topic);
else if (type == "matrix")
entity.add<Matrix>(signal, topic);
else if (type == "vector")
@@ -162,7 +164,7 @@ void RosPublish::clear() {
}
}
-int& RosPublish::trigger(int& dummy, int t) {
+int& RosPublish::trigger(int& dummy, sigtime_t t) {
typedef std::map<std::string, bindedSignal_t>::iterator iterator_t;
ros::Time aTime;
if (ros::Time::isSimTime()) {
diff --git a/src/ros_publish.hh b/src/ros_publish.hh
index 106ec9e..ceea110 100644
--- a/src/ros_publish.hh
+++ b/src/ros_publish.hh
@@ -42,9 +42,9 @@ class RosPublish : public dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
- typedef boost::function<void(int)> callback_t;
+ typedef boost::function<void(sigtime_t)> callback_t;
- typedef boost::tuple<boost::shared_ptr<dynamicgraph::SignalBase<int> >,
+ typedef boost::tuple<boost::shared_ptr<dynamicgraph::SignalBase<sigtime_t> >,
callback_t>
bindedSignal_t;
@@ -61,14 +61,15 @@ class RosPublish : public dynamicgraph::Entity {
std::vector<std::string> list() const;
void clear();
- int& trigger(int&, int);
+ int& trigger(int&, sigtime_t);
template <typename T>
void sendData(
boost::shared_ptr<
realtime_tools::RealtimePublisher<typename SotToRos<T>::ros_t> >
publisher,
- boost::shared_ptr<typename SotToRos<T>::signalIn_t> signal, int time);
+ boost::shared_ptr<typename SotToRos<T>::signalIn_t> signal,
+ sigtime_t time);
template <typename T>
void add(const std::string& signal, const std::string& topic);
@@ -77,7 +78,7 @@ class RosPublish : public dynamicgraph::Entity {
static const std::string docstring_;
ros::NodeHandle& nh_;
std::map<std::string, bindedSignal_t> bindedSignal_;
- dynamicgraph::SignalTimeDependent<int, int> trigger_;
+ dynamicgraph::SignalTimeDependent<int, sigtime_t> trigger_;
ros::Duration rate_;
ros::Time nextPublication_;
boost::mutex mutex_;
diff --git a/src/ros_publish.hxx b/src/ros_publish.hxx
index 6534003..5f8c6bf 100644
--- a/src/ros_publish.hxx
+++ b/src/ros_publish.hxx
@@ -16,8 +16,7 @@ inline void RosPublish::sendData<std::pair<sot::MatrixHomogeneous, Vector> >(
publisher,
boost::shared_ptr<
SotToRos<std::pair<sot::MatrixHomogeneous, Vector> >::signalIn_t>
- signal,
- int time) {
+ signal, sigtime_t time) {
SotToRos<std::pair<sot::MatrixHomogeneous, Vector> >::ros_t result;
if (publisher->trylock()) {
publisher->msg_.child_frame_id = "/dynamic_graph/world";
@@ -31,7 +30,8 @@ void RosPublish::sendData(
boost::shared_ptr<
realtime_tools::RealtimePublisher<typename SotToRos<T>::ros_t> >
publisher,
- boost::shared_ptr<typename SotToRos<T>::signalIn_t> signal, int time) {
+ boost::shared_ptr<typename SotToRos<T>::signalIn_t> signal,
+ sigtime_t time) {
typename SotToRos<T>::ros_t result;
if (publisher->trylock()) {
converter(publisher->msg_, signal->access(time));
diff --git a/src/ros_queued_subscribe.cpp b/src/ros_queued_subscribe.cpp
index 3217318..14fc0b6 100644
--- a/src/ros_queued_subscribe.cpp
+++ b/src/ros_queued_subscribe.cpp
@@ -137,7 +137,7 @@ std::size_t RosQueuedSubscribe::queueSize(const std::string& signal) const {
return -1;
}
-void RosQueuedSubscribe::readQueue(int beginReadingAt) {
+void RosQueuedSubscribe::readQueue(int64_t beginReadingAt) {
// Prints signal queues sizes
/*for (std::map<std::string, bindedSignal_t>::const_iterator it =
bindedSignal_.begin (); it != bindedSignal_.end (); it++) {
diff --git a/src/ros_queued_subscribe.hh b/src/ros_queued_subscribe.hh
index abfa6e1..6a674f9 100644
--- a/src/ros_queued_subscribe.hh
+++ b/src/ros_queued_subscribe.hh
@@ -66,7 +66,7 @@ struct BindedSignalBase {
template <typename T, int BufferSize>
struct BindedSignal : BindedSignalBase {
- typedef dynamicgraph::Signal<T, int> Signal_t;
+ typedef dynamicgraph::Signal<T, sigtime_t> Signal_t;
typedef boost::shared_ptr<Signal_t> SignalPtr_t;
typedef std::vector<T> buffer_t;
typedef typename buffer_t::size_type size_type;
@@ -132,7 +132,7 @@ struct BindedSignal : BindedSignalBase {
template <typename R>
void writer(const R& data);
- T& reader(T& val, int time);
+ T& reader(T& val, sigtime_t time);
private:
/// Indicates whether the signal has received atleast one data point
@@ -159,7 +159,7 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
std::vector<std::string> listTopics();
void clear();
void clearQueue(const std::string& signal);
- void readQueue(int beginReadingAt);
+ void readQueue(int64_t beginReadingAt);
std::size_t queueSize(const std::string& signal) const;
bool queueReceivedData(const std::string& signal) const;
void setQueueReceivedData(const std::string& signal, bool status);
@@ -176,12 +176,12 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
ros::NodeHandle& nh() { return nh_; }
template <typename R, typename S>
- void callback(boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
- const R& data);
+ void callback(boost::shared_ptr<dynamicgraph::SignalPtr<S, sigtime_t> >
+ signal, const R& data);
template <typename R>
void callbackTimestamp(
- boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
+ boost::shared_ptr<dynamicgraph::SignalPtr<ptime, sigtime_t> > signal,
const R& data);
template <typename T>
@@ -193,8 +193,7 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
std::map<std::string, bindedSignal_t> bindedSignal_;
std::map<std::string, std::string> topics_;
- int readQueue_;
- // Signal<bool, int> readQueue_;
+ int64_t readQueue_;
template <typename T>
friend class internal::BindedSignal;
diff --git a/src/ros_queued_subscribe.hxx b/src/ros_queued_subscribe.hxx
index b398f71..2648110 100644
--- a/src/ros_queued_subscribe.hxx
+++ b/src/ros_queued_subscribe.hxx
@@ -92,7 +92,7 @@ void BindedSignal<T, N>::writer(const R& data) {
}
template <typename T, int N>
-T& BindedSignal<T, N>::reader(T& data, int time) {
+T& BindedSignal<T, N>::reader(T& data, sigtime_t time) {
// synchronize with method clear:
// If reading from the list cannot be done, then return last value.
boost::mutex::scoped_lock lock(rmutex, boost::try_to_lock);
diff --git a/src/ros_subscribe.cpp b/src/ros_subscribe.cpp
index 0c9374e..c5c1906 100644
--- a/src/ros_subscribe.cpp
+++ b/src/ros_subscribe.cpp
@@ -36,6 +36,10 @@ Value Add::doExecute() {
entity.add<double>(signal, topic);
else if (type == "unsigned")
entity.add<unsigned int>(signal, topic);
+ else if (type == "int")
+ entity.add<int>(signal, topic);
+ else if (type == "int64")
+ entity.add<int64_t>(signal, topic);
else if (type == "matrix")
entity.add<dg::Matrix>(signal, topic);
else if (type == "vector")
diff --git a/src/ros_subscribe.hh b/src/ros_subscribe.hh
index 3b3bb88..21a8a09 100644
--- a/src/ros_subscribe.hh
+++ b/src/ros_subscribe.hh
@@ -46,7 +46,7 @@ class RosSubscribe : public dynamicgraph::Entity {
typedef boost::posix_time::ptime ptime;
public:
- typedef std::pair<boost::shared_ptr<dynamicgraph::SignalBase<int> >,
+ typedef std::pair<boost::shared_ptr<dynamicgraph::SignalBase<sigtime_t> >,
boost::shared_ptr<ros::Subscriber> >
bindedSignal_t;
@@ -71,12 +71,12 @@ class RosSubscribe : public dynamicgraph::Entity {
ros::NodeHandle& nh() { return nh_; }
template <typename R, typename S>
- void callback(boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
- const R& data);
+ void callback(boost::shared_ptr<dynamicgraph::SignalPtr<S, sigtime_t> >
+ signal, const R& data);
template <typename R>
void callbackTimestamp(
- boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
+ boost::shared_ptr<dynamicgraph::SignalPtr<ptime, sigtime_t> > signal,
const R& data);
template <typename T>
diff --git a/src/ros_subscribe.hxx b/src/ros_subscribe.hxx
index 6e32261..ff98e9e 100644
--- a/src/ros_subscribe.hxx
+++ b/src/ros_subscribe.hxx
@@ -18,7 +18,7 @@ namespace dg = dynamicgraph;
namespace dynamicgraph {
template <typename R, typename S>
void RosSubscribe::callback(
- boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal, const R& data) {
+ boost::shared_ptr<dynamicgraph::SignalPtr<S, sigtime_t> > signal, const R& data) {
typedef S sot_t;
sot_t value;
converter(value, data);
@@ -27,7 +27,7 @@ void RosSubscribe::callback(
template <typename R>
void RosSubscribe::callbackTimestamp(
- boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
+ boost::shared_ptr<dynamicgraph::SignalPtr<ptime, sigtime_t> > signal,
const R& data) {
ptime time = rosTimeToPtime(data->header.stamp);
signal->setConstant(time);
@@ -101,7 +101,7 @@ struct Add<std::pair<T, dg::Vector> > {
RosSubscribe.bindedSignal()[signal] = bindedSignal;
// Timestamp.
- typedef dynamicgraph::SignalPtr<RosSubscribe::ptime, int> signalTimestamp_t;
+ typedef dynamicgraph::SignalPtr<RosSubscribe::ptime, sigtime_t> signalTimestamp_t;
std::string signalTimestamp =
(boost::format("%1%%2%") % signal % "Timestamp").str();
diff --git a/src/ros_tf_listener.cpp b/src/ros_tf_listener.cpp
index 68e94c9..045aa60 100644
--- a/src/ros_tf_listener.cpp
+++ b/src/ros_tf_listener.cpp
@@ -9,7 +9,7 @@
namespace dynamicgraph {
namespace internal {
sot::MatrixHomogeneous& TransformListenerData::getTransform(
- sot::MatrixHomogeneous& res, int time) {
+ sot::MatrixHomogeneous& res, sigtime_t time) {
availableSig.recompute(time);
bool available = availableSig.accessCopy();
@@ -29,7 +29,7 @@ sot::MatrixHomogeneous& TransformListenerData::getTransform(
return res;
}
-bool& TransformListenerData::isAvailable(bool& available, int time) {
+bool& TransformListenerData::isAvailable(bool& available, sigtime_t time) {
static const ros::Time origin(0);
available = false;
ros::Duration elapsed;
diff --git a/src/ros_tf_listener.hh b/src/ros_tf_listener.hh
index d753aa4..df3958b 100644
--- a/src/ros_tf_listener.hh
+++ b/src/ros_tf_listener.hh
@@ -17,9 +17,9 @@ class RosTfListener;
namespace internal {
struct TransformListenerData {
- typedef SignalTimeDependent<bool, int> AvailableSignal_t;
- typedef SignalTimeDependent<sot::MatrixHomogeneous, int> MatrixSignal_t;
- typedef SignalPtr<sot::MatrixHomogeneous, int> DefaultSignal_t;
+ typedef SignalTimeDependent<bool, sigtime_t> AvailableSignal_t;
+ typedef SignalTimeDependent<sot::MatrixHomogeneous, sigtime_t> MatrixSignal_t;
+ typedef SignalPtr<sot::MatrixHomogeneous, sigtime_t> DefaultSignal_t;
RosTfListener* entity;
tf2_ros::Buffer& buffer;
@@ -52,9 +52,10 @@ struct TransformListenerData {
signal.addDependencies(failbackSig << availableSig);
}
- sot::MatrixHomogeneous& getTransform(sot::MatrixHomogeneous& res, int time);
+ sot::MatrixHomogeneous& getTransform(sot::MatrixHomogeneous& res,
+ sigtime_t time);
- bool& isAvailable(bool& isAvailable, int time);
+ bool& isAvailable(bool& isAvailable, sigtime_t time);
};
} // namespace internal
diff --git a/src/ros_time.cpp b/src/ros_time.cpp
index 79519ca..8e7690b 100644
--- a/src/ros_time.cpp
+++ b/src/ros_time.cpp
@@ -31,7 +31,7 @@ RosTime::RosTime(const std::string& _name)
now_.setFunction(boost::bind(&RosTime::update, this, _1, _2));
}
-ptime& RosTime::update(ptime& time, const int&) {
+ptime& RosTime::update(ptime& time, const sigtime_t&) {
time = rosTimeToPtime(ros::Time::now());
return time;
}
diff --git a/src/ros_time.hh b/src/ros_time.hh
index 1601d88..ce98aae 100644
--- a/src/ros_time.hh
+++ b/src/ros_time.hh
@@ -18,13 +18,13 @@ class RosTime : public dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
- Signal<boost::posix_time::ptime, int> now_;
+ Signal<boost::posix_time::ptime, sigtime_t> now_;
RosTime(const std::string& name);
virtual std::string getDocString() const;
protected:
boost::posix_time::ptime& update(boost::posix_time::ptime& time,
- const int& t);
+ const sigtime_t& t);
private:
static const std::string docstring_;
diff --git a/src/sot_to_ros.cpp b/src/sot_to_ros.cpp
index 8b03235..af3f171 100644
--- a/src/sot_to_ros.cpp
+++ b/src/sot_to_ros.cpp
@@ -5,6 +5,7 @@ namespace dynamicgraph {
const char* SotToRos<bool>::signalTypeName = "bool";
const char* SotToRos<double>::signalTypeName = "Double";
const char* SotToRos<int>::signalTypeName = "int";
+const char* SotToRos<int64_t>::signalTypeName = "int64";
const char* SotToRos<std::string>::signalTypeName = "string";
const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
const char* SotToRos<Matrix>::signalTypeName = "Matrix";
diff --git a/src/sot_to_ros.hh b/src/sot_to_ros.hh
index d16d707..4e0ba44 100644
--- a/src/sot_to_ros.hh
+++ b/src/sot_to_ros.hh
@@ -6,6 +6,7 @@
#include <std_msgs/Bool.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Int32.h>
+#include <std_msgs/Int64.h>
#include <std_msgs/String.h>
#include <std_msgs/UInt32.h>
@@ -52,9 +53,9 @@ struct SotToRos<bool> {
typedef bool sot_t;
typedef std_msgs::Bool ros_t;
typedef std_msgs::BoolConstPtr ros_const_ptr_t;
- typedef dynamicgraph::Signal<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -71,9 +72,9 @@ struct SotToRos<double> {
typedef double sot_t;
typedef std_msgs::Float64 ros_t;
typedef std_msgs::Float64ConstPtr ros_const_ptr_t;
- typedef dynamicgraph::Signal<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -90,9 +91,9 @@ struct SotToRos<unsigned int> {
typedef unsigned int sot_t;
typedef std_msgs::UInt32 ros_t;
typedef std_msgs::UInt32ConstPtr ros_const_ptr_t;
- typedef dynamicgraph::Signal<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -109,9 +110,28 @@ struct SotToRos<int> {
typedef int sot_t;
typedef std_msgs::Int32 ros_t;
typedef std_msgs::Int32ConstPtr ros_const_ptr_t;
- typedef dynamicgraph::Signal<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
+
+ static const char* signalTypeName;
+
+ template <typename S>
+ static void setDefault(S& s) {
+ s.setConstant(0);
+ }
+
+ static void setDefault(sot_t& s) { s = 0; }
+};
+
+template <>
+struct SotToRos<int64_t> {
+ typedef int64_t sot_t;
+ typedef std_msgs::Int64 ros_t;
+ typedef std_msgs::Int64ConstPtr ros_const_ptr_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -128,9 +148,9 @@ struct SotToRos<std::string> {
typedef std::string sot_t;
typedef std_msgs::String ros_t;
typedef std_msgs::StringConstPtr ros_const_ptr_t;
- typedef dynamicgraph::Signal<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::Signal<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -147,9 +167,9 @@ struct SotToRos<Matrix> {
typedef Matrix sot_t;
typedef dynamic_graph_bridge_msgs::Matrix ros_t;
typedef dynamic_graph_bridge_msgs::MatrixConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -168,9 +188,9 @@ struct SotToRos<Vector> {
typedef Vector sot_t;
typedef dynamic_graph_bridge_msgs::Vector ros_t;
typedef dynamic_graph_bridge_msgs::VectorConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -189,9 +209,9 @@ struct SotToRos<specific::Vector3> {
typedef Vector sot_t;
typedef geometry_msgs::Vector3 ros_t;
typedef geometry_msgs::Vector3ConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -209,9 +229,9 @@ struct SotToRos<sot::MatrixHomogeneous> {
typedef sot::MatrixHomogeneous sot_t;
typedef geometry_msgs::Transform ros_t;
typedef geometry_msgs::TransformConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -229,9 +249,9 @@ struct SotToRos<specific::Twist> {
typedef Vector sot_t;
typedef geometry_msgs::Twist ros_t;
typedef geometry_msgs::TwistConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -251,9 +271,9 @@ struct SotToRos<std::pair<specific::Vector3, Vector> > {
typedef Vector sot_t;
typedef geometry_msgs::Vector3Stamped ros_t;
typedef geometry_msgs::Vector3StampedConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -269,9 +289,9 @@ struct SotToRos<std::pair<sot::MatrixHomogeneous, Vector> > {
typedef sot::MatrixHomogeneous sot_t;
typedef geometry_msgs::TransformStamped ros_t;
typedef geometry_msgs::TransformStampedConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
@@ -287,9 +307,9 @@ struct SotToRos<std::pair<specific::Twist, Vector> > {
typedef Vector sot_t;
typedef geometry_msgs::TwistStamped ros_t;
typedef geometry_msgs::TwistStampedConstPtr ros_const_ptr_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
- typedef boost::function<sot_t&(sot_t&, int)> callback_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, sigtime_t> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, sigtime_t> signalIn_t;
+ typedef boost::function<sot_t&(sot_t&, sigtime_t)> callback_t;
static const char* signalTypeName;
--
GitLab