exotica::Server Class Reference

#include <server.h>

Inheritance diagram for exotica::Server:

Collaboration diagram for exotica::Server:

Public Member Functions
virtual	~Server ()
bool	HasModel (const std::string &path)
	Check if a robot model exist. More...
void	GetModel (const std::string &path, robot_model::RobotModelPtr &model, const std::string &urdf="", const std::string &srdf="")
	Get robot model. More...
robot_model::RobotModelConstPtr	GetModel (const std::string &path, const std::string &urdf="", const std::string &srdf="")
	Get robot model. More...
std::string	GetName ()
	Get the name of ther server. More...
Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Static Public Member Functions
static std::shared_ptr< Server >	Instance ()
	Get the server. More...
static void	InitRos (std::shared_ptr< ros::NodeHandle > nh, int numThreads=2)
static bool	IsRos ()
static ros::NodeHandle &	GetNodeHandle ()
template<typename T >
static bool	GetParam (const std::string &name, T &param)
template<typename T >
static void	SetParam (const std::string &name, T &param)
static bool	HasParam (const std::string &name)
template<typename T , typename... Args>
static ros::Publisher	Advertise (Args &&... args)
template<typename T , typename... Args>
static ros::Subscriber	Subscribe (Args &&... args)
template<typename T >
static ros::ServiceClient	ServiceClient (const std::string &service_name, bool persistent=false)
static void	SendTransform (const tf::StampedTransform &transform)
static void	SendTransform (const std::vector< tf::StampedTransform > &transforms)
static void	SendTransform (const geometry_msgs::TransformStamped &transform)
static void	SendTransform (const std::vector< geometry_msgs::TransformStamped > &transforms)
static void	Destroy ()

Private Member Functions
	Server ()
	Server (Server const &)=delete
	Make sure the singleton does not get copied. More...
void	operator= (Server const &)=delete
robot_model::RobotModelPtr	LoadModel (const std::string &name, const std::string &urdf="", const std::string &srdf="")

Private Attributes
std::string	name_
	The name of this server. More...
std::shared_ptr< RosNode >	node_
std::map< std::string, robot_model::RobotModelPtr >	robot_models_
	Robot model cache. More...

Static Private Attributes
static std::shared_ptr< Server >	singleton_server_

Constructor & Destructor Documentation

~Server()

virtual exotica::Server::~Server ( )

virtual

Server() [1/2]

exotica::Server::Server ( )

private

Server() [2/2]

exotica::Server::Server ( Server const &  )

privatedelete

Make sure the singleton does not get copied.

Member Function Documentation

Advertise()

template<typename T , typename... Args>

static ros::Publisher exotica::Server::Advertise ( Args &&...  args )

inlinestatic

Destroy()

static void exotica::Server::Destroy ( )

static

GetModel() [1/2]

robot_model::RobotModelConstPtr exotica::Server::GetModel	(	const std::string &	path,
		const std::string &	urdf = "",
		const std::string &	srdf = ""
	)

Get robot model.

Parameters

path	Robot model name

Returns

robot model

GetModel() [2/2]

void exotica::Server::GetModel	(	const std::string &	path,
		robot_model::RobotModelPtr &	model,
		const std::string &	urdf = "",
		const std::string &	srdf = ""
	)

Get robot model.

Parameters

path	Robot model name
model	Robot model

GetName()

std::string exotica::Server::GetName

(

)

Get the name of ther server.

Returns

Server name

GetNodeHandle()

static ros::NodeHandle& exotica::Server::GetNodeHandle ( )

inlinestatic

GetParam()

template<typename T >

static bool exotica::Server::GetParam ( const std::string &  name, T &  param  )

inlinestatic

HasModel()

bool exotica::Server::HasModel

(

const std::string &

path

)

Check if a robot model exist.

Parameters

path	Robot model name

Returns

True if exist, false otherwise

HasParam()

static bool exotica::Server::HasParam ( const std::string &  name )

inlinestatic

InitRos()

static void exotica::Server::InitRos ( std::shared_ptr< ros::NodeHandle >  nh, int  numThreads = 2  )

inlinestatic

Instance()

static std::shared_ptr<Server> exotica::Server::Instance ( )

inlinestatic

Get the server.

IsRos()

static bool exotica::Server::IsRos ( )

inlinestatic

LoadModel()

robot_model::RobotModelPtr exotica::Server::LoadModel ( const std::string &  name, const std::string &  urdf = "", const std::string &  srdf = ""  )

private

operator=()

void exotica::Server::operator= ( Server const &  )

privatedelete

SendTransform() [1/4]

static void exotica::Server::SendTransform ( const geometry_msgs::TransformStamped &  transform )

inlinestatic

SendTransform() [2/4]

static void exotica::Server::SendTransform ( const std::vector< geometry_msgs::TransformStamped > &  transforms )

inlinestatic

SendTransform() [3/4]

static void exotica::Server::SendTransform ( const std::vector< tf::StampedTransform > &  transforms )

inlinestatic

SendTransform() [4/4]

static void exotica::Server::SendTransform ( const tf::StampedTransform &  transform )

inlinestatic

ServiceClient()

template<typename T >

static ros::ServiceClient exotica::Server::ServiceClient ( const std::string &  service_name, bool  persistent = false  )

inlinestatic

SetParam()

template<typename T >

static void exotica::Server::SetParam ( const std::string &  name, T &  param  )

inlinestatic

Subscribe()

template<typename T , typename... Args>

static ros::Subscriber exotica::Server::Subscribe ( Args &&...  args )

inlinestatic

Member Data Documentation

name_

std::string exotica::Server::name_

private

The name of this server.

node_

std::shared_ptr<RosNode> exotica::Server::node_

private

robot_models_

std::map<std::string, robot_model::RobotModelPtr> exotica::Server::robot_models_

private

Robot model cache.

singleton_server_

std::shared_ptr<Server> exotica::Server::singleton_server_

staticprivate

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The documentation for this class was generated from the following file:

• /tmp/exotica/exotica_core/include/exotica_core/server.h