RobotGeometryRegistry Class Reference

Shares the robot's geometry across EasyNav's nodes. More...

#include <RobotGeometry.hpp>

Inheritance diagram for RobotGeometryRegistry:

Collaboration diagram for RobotGeometryRegistry:

Public Member Functions
RobotGeometry	get_geometry () const
	The robot's geometry.
bool	is_configured (const std::string &field) const
	Whether "robot_geometry.<field>" was configured explicitly.
	RobotGeometryRegistry ()=default
void	set_geometry (const RobotGeometry &geometry, const std::set< std::string > &configured={})
	Sets the robot's geometry, and which fields were configured explicitly.

Additional Inherited Members
Static Public Member Functions inherited from Singleton< RobotGeometryRegistry >
static RobotGeometryRegistry &	get (Args &&... args)
static RobotGeometryRegistry *	getInstance (Args &&... args)
static void	removeInstance ()
	Destroy the current instance, if any; the next getInstance()/get() call creates a fresh one.
Protected Member Functions inherited from Singleton< RobotGeometryRegistry >
Singleton &	operator= (const Singleton &)=delete
	Singleton ()=default
	~Singleton ()=default

Detailed Description

Shares the robot's geometry across EasyNav's nodes.

The geometry is configured in SystemNode ("robot_geometry.*"), which sets it here before its subnodes configure, so their plugins read it while initializing (see get_robot_geometry()).

Constructor & Destructor Documentation

RobotGeometryRegistry()

RobotGeometryRegistry ( )

default

Member Function Documentation

get_geometry()

RobotGeometry get_geometry

(

)

const

The robot's geometry.

is_configured()

bool is_configured

(

const std::string &

field

)

const

Whether "robot_geometry.<field>" was configured explicitly.

set_geometry()

void set_geometry	(	const RobotGeometry &	geometry,
		const std::set< std::string > &	configured = {} )

Sets the robot's geometry, and which fields were configured explicitly.

---

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

• easynav_common/include/easynav_common/RobotGeometry.hpp