Server wrapper for object pose. More...

#include <sas_object_server.hpp>

Inheritance diagram for sas::ObjectServer:

Public Member Functions
	ObjectServer (const ObjectServer &)=delete

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

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

DQ	get_target_pose () const
	Get the currently stored target pose.

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

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

Detailed Description

Server wrapper for object pose.

The ObjectServer exposes a simple interface to receive and publish geometry_msgs::msg::PoseStamped messages representing target and current poses of an object. Internally the target pose is stored using DQ_robotics::DQ. The class provides methods to send the current pose, retrieve the target pose and query configuration such as the topic prefix and enabled state.

Constructor & Destructor Documentation

◆ ObjectServer()

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

Construct a new ObjectServer.

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_target_pose()

DQ sas::ObjectServer::get_target_pose ( ) const

Get the currently stored target pose.

Returns: DQ The target pose stored by the server.

◆ get_topic_prefix()

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

Get the configured topic prefix.

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

◆ is_enabled()

bool sas::ObjectServer::is_enabled ( ) const

Query whether the server is enabled.

Returns: true if enabled, false otherwise.

◆ send_pose()

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

Publish the provided pose to the configured topic.