Perceptions.hpp File Reference

Defines data structures and utilities for representing and processing sensor perceptions. More...

#include <string>
#include "rclcpp/time.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

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Classes
class	PerceptionBase
	Abstract base class for representing a single sensor perception. More...
class	PerceptionHandler
	Abstract base interface for group-specific perception handlers. More...
struct	PerceptionPtr
	Represents a perception entry with its state and ROS subscription. More...

Namespaces
namespace	easynav

Typedefs
using	PerceptionBasePtr = std::shared_ptr<PerceptionBase>
	Shared pointer alias to PerceptionBase.

Functions
template<typename T = PerceptionBase>
std::vector< std::shared_ptr< T > >	get_perceptions (const std::vector< PerceptionPtr > &src)
	Extracts a homogeneous collection of perceptions of type T from a heterogeneous vector.

Detailed Description

Defines data structures and utilities for representing and processing sensor perceptions.

This file provides common interfaces for sensor perception handling:

• PerceptionBase: base class for sensor data.
• PerceptionPtr: utility for holding perception state and its subscription.
• get_perceptions: helper to extract typed collections from a heterogeneous container.
• PerceptionHandler: abstract base class for group-specific sensor handlers.