Client wrapper for object pose. More...

#include <sas_object_client.hpp>

Inheritance diagram for sas::ObjectClient:

Public Member Functions
	ObjectClient (const ObjectClient &)=delete

	ObjectClient (const std::shared_ptr< Node > &node, const std::string topic_prefix="GET_FROM_NODE")
	Construct a new ObjectClient.

void	send_pose (const DQ &pose)
	Publish the provided pose to the configured topic.

DQ	get_pose () const
	Get the last received pose.

bool	is_enabled () const
	Query whether the client is enabled.

std::string	get_topic_prefix () const
	Get the configured topic prefix.

Detailed Description

Client wrapper for object pose.

The ObjectClient connects to a ROS node to subscribe and publish geometry_msgs::msg::PoseStamped messages representing an object's pose. Internally the pose is stored using DQ_robotics::DQ. The class exposes simple methods to send and retrieve the pose as well as to query configuration such as the topic prefix and enabled state.

Constructor & Destructor Documentation

◆ ObjectClient()

sas::ObjectClient::ObjectClient	(	const std::shared_ptr< Node > &	node,
		const std::string	topic_prefix = `"GET_FROM_NODE"`
	)

Construct a new ObjectClient.

Parameters

node	Shared pointer to the rclcpp::Node used for ROS communications.
topic_prefix	Topic prefix used for publisher/subscriber names. Defaults to "GET_FROM_NODE".

Member Function Documentation

◆ get_pose()

DQ sas::ObjectClient::get_pose ( ) const

Get the last received pose.

Returns: DQ The last pose received via the subscription (or Exception if none received).

◆ get_topic_prefix()

std::string sas::ObjectClient::get_topic_prefix ( ) const

Get the configured topic prefix.

Returns: std::string The topic prefix used by this client.

◆ is_enabled()

bool sas::ObjectClient::is_enabled ( ) const

Query whether the client is enabled.

Returns: true if enabled, false otherwise.

◆ send_pose()

void sas::ObjectClient::send_pose ( const DQ & pose )

Publish the provided pose to the configured topic.

This will publish the given DQ pose using the internal publisher.