Efferent Class Reference

Manages efferent operations in the robotic system, including the configuration of publishers and message broadcasting. More...

#include <Efferent.hpp>

Inheritance diagram for Efferent:

Collaboration diagram for Efferent:

Public Member Functions
virtual bool	configure ()=0
	Configures the Efferent component.
	Efferent (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs an Efferent object associated with a parent lifecycle node.
template<class MessageT>
void	publish (std::unique_ptr< MessageT > msg)
	Publishes a serialized message to all configured publishers.

Protected Member Functions
bool	create_publisher (const std::string &topic, const std::string &type)
	Creates a publisher for a specified topic and message type.

Protected Attributes
rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_
	< Shared pointer to the parent lifecycle node.
std::vector< std::shared_ptr< rclcpp::GenericPublisher > >	pubs_

Detailed Description

Manages efferent operations in the robotic system, including the configuration of publishers and message broadcasting.

Constructor & Destructor Documentation

Efferent()

Efferent ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructs an Efferent object associated with a parent lifecycle node.

Constructs an Efferent object and assigns the parent lifecycle node.

Parameters

parent

Shared pointer to the lifecycle node managing this Efferent instance.

Member Function Documentation

configure()

virtual bool configure ( )

pure virtual

Configures the Efferent component.

Returns

True if configuration is successful.

Implemented in SimpleImageOutput.

create_publisher()

bool create_publisher ( const std::string & topic, const std::string & type )

protected

Creates a publisher for a specified topic and message type.

Parameters

topic	The topic name to publish messages to.
type	The type of messages to publish on the topic.

Returns

True if the publisher was created successfully.

This function sets up a generic publisher on a given topic, allowing the Efferent component to send messages of the specified type.

Parameters

topic	The topic name to publish messages to.
type	The type of messages to publish on the topic.

Returns

True if the publisher was created successfully.

publish()

template<class MessageT>

void publish

(

std::unique_ptr< MessageT >

msg

)

Publishes a serialized message to all configured publishers.

This templated method serializes the provided message and broadcasts it to each publisher in the pubs_ list.

Template Parameters

MessageT

Type of the message to publish.

Parameters

msg	Unique pointer to the message to broadcast.

Member Data Documentation

parent_

rclcpp_lifecycle::LifecycleNode::SharedPtr parent_

protected

< Shared pointer to the parent lifecycle node.

List of generic publishers.

pubs_

std::vector<std::shared_ptr<rclcpp::GenericPublisher> > pubs_

protected

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

• cs4home_core/include/cs4home_core/Efferent.hpp
• cs4home_core/src/cs4home_core/Efferent.cpp