PointPerceptionHandler Class Reference

PerceptionHandler implementation for sensors producing point-based data. More...

#include <PointPerception.hpp>

Inheritance diagram for PointPerceptionHandler:

Collaboration diagram for PointPerceptionHandler:

Public Member Functions
bool	cycle_rt (std::shared_ptr< NavState > nav_state) override
	Run one real-time sensor processing cycle.
void	on_initialize () override
	Optional post-initialization hook for subclasses.
Public Member Functions inherited from PerceptionHandler
const std::string &	get_sensor_name () const
	Returns the sensor name provided during initialize.
void	initialize (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const rclcpp::CallbackGroup::SharedPtr realtime_cbg, const std::string &sensor_name)
	Initializes the handler with the parent node and sensor name.
virtual	~PerceptionHandler ()=default

Additional Inherited Members
Protected Member Functions inherited from PerceptionHandler
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const
	Returns the parent lifecycle node.
rclcpp::CallbackGroup::SharedPtr	get_realtime_cbg () const
	Returns the parent lifecycle node.
Protected Attributes inherited from PerceptionHandler
std::weak_ptr< rclcpp_lifecycle::LifecycleNode >	parent_node_
	Shared pointer to the parent lifecycle node.
rclcpp::CallbackGroup::SharedPtr	realtime_cbg_
	Callback group for real-time operations.
std::string	sensor_name_
	Name of the sensor (used as YAML parameter namespace prefix).

Detailed Description

PerceptionHandler implementation for sensors producing point-based data.

Supports both sensor_msgs::msg::LaserScan and sensor_msgs::msg::PointCloud2, converting incoming messages into PointPerception instances.

Member Function Documentation

cycle_rt()

bool cycle_rt ( std::shared_ptr< NavState > nav_state )

overridevirtual

Run one real-time sensor processing cycle.

This method is called by the SensorsNode before executing its cycle_rt. Here the handler should update the NavState with the sensor data. If new data arrived before this call and the state is updated, it must return true.

Parameters

nav_state

Pointer to the NavState to store the sensor data.

Returns

True if new data was stored (to trigger processing).

Reimplemented from PerceptionHandler.

on_initialize()

void on_initialize ( )

overridevirtual

Optional post-initialization hook for subclasses.

Here, the handler must reserve memory to store the perception data and create any Subscription or similar objects to read the data.

Reimplemented from PerceptionHandler.

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

• easynav_sensors/include/easynav_sensors/types/PointPerception.hpp
• easynav_sensors/src/easynav_sensors/types/PointPerception.cpp