DetectionsPerception Class Reference

#include <DetectionsPerception.hpp>

Inheritance diagram for DetectionsPerception:

Collaboration diagram for DetectionsPerception:

Public Member Functions
bool	consume_new_data ()
	Atomically reads and clears new_data.
	DetectionsPerception ()
	DetectionsPerception (const DetectionsPerception &other)
DetectionsPerception &	operator= (const DetectionsPerception &other)
void	set_data (const vision_msgs::msg::Detection3DArray &msg, const rclcpp::Time &msg_stamp, const std::string &msg_frame_id)
	Atomically overwrites stamp/frame_id/data/valid from the subscription callback.
Public Member Functions inherited from PerceptionBase
virtual	~PerceptionBase ()=default

Static Public Member Functions
static bool	supports_msg_type (std::string_view t)
	Returns whether the given ROS 2 type name is supported by this perception.

Public Attributes
vision_msgs::msg::Detection3DArray	data
	Detection3DArray data received from the an external processing system.
Public Attributes inherited from PerceptionBase
std::string	frame_id
	Coordinate frame associated with the perception.
bool	new_data = false
	Whether the data has changed since the last observation.
rclcpp::Time	stamp
	Timestamp of the perception (ROS time).
bool	valid = false
	Whether the perception holds usable data: set with new data, cleared by SensorsNode once it is older than "forget_time".

Static Public Attributes
static constexpr std::string_view	default_group_ = "detections"
	Group identifier for image perceptions.

Protected Attributes
std::mutex	mutex_

Constructor & Destructor Documentation

DetectionsPerception() [1/2]

DetectionsPerception

(

)

DetectionsPerception() [2/2]

DetectionsPerception

(

const DetectionsPerception &

other

)

Member Function Documentation

consume_new_data()

bool consume_new_data

(

)

Atomically reads and clears new_data.

Returns

The value of new_data before it was cleared.

operator=()

DetectionsPerception & operator=

(

const DetectionsPerception &

other

)

set_data()

void set_data	(	const vision_msgs::msg::Detection3DArray &	msg,
		const rclcpp::Time &	msg_stamp,
		const std::string &	msg_frame_id )

Atomically overwrites stamp/frame_id/data/valid from the subscription callback.

Guards against a concurrent copy (e.g. via NavState::get_safe()) observing a partially-updated object while this handler's RT-thread callback is writing.

supports_msg_type()

bool supports_msg_type ( std::string_view t )

static

Returns whether the given ROS 2 type name is supported by this perception.

Parameters

t	Fully qualified message type name (e.g., "vision_msgs/msg/Detection3DArray").

Returns

true if t equals "vision_msgs/msg/Detection3DArray", otherwise false.

Member Data Documentation

data

vision_msgs::msg::Detection3DArray data

Detection3DArray data received from the an external processing system.

default_group_

std::string_view default_group_ = "detections"

staticconstexpr

Group identifier for image perceptions.

mutex_

std::mutex mutex_

mutableprotected

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

• easynav_sensors/include/easynav_sensors/types/DetectionsPerception.hpp