#include <motion_testing_publisher.hpp>

Inheritance diagram for motion::motion_testing_nodes::MotionTestingPublisher:

Collaboration diagram for motion::motion_testing_nodes::MotionTestingPublisher:

Public Member Functions
	MotionTestingPublisher (const std::string &node_name, const std::string &traj_topic, const std::string &state_topic, const std::string &tf_topic, const TrajectoryProfilesVec &profiles)

bool	done () const noexcept
	Check if all messages have been published. More...

void	match (const std::size_t tf_subs=1U, const std::size_t state_subs=1U, const std::size_t traj_subs=1U) const
	Blocks until all match conditions are satisfied, then published initial trajectory (semihack) More...

Detailed Description

Generate a sequence of constant trajectories and states assuming the vehicle perfectly follows the trajectory. States are in the ego frame, trajectories are in an inertial frame, and transforms between the two are provided

Constructor & Destructor Documentation

◆ MotionTestingPublisher()

motion::motion_testing_nodes::MotionTestingPublisher::MotionTestingPublisher	(	const std::string &	node_name,
		const std::string &	traj_topic,
		const std::string &	state_topic,
		const std::string &	tf_topic,
		const TrajectoryProfilesVec &	profiles
	)

Member Function Documentation

◆ done()

bool motion::motion_testing_nodes::MotionTestingPublisher::done ( ) const

noexcept

Check if all messages have been published.

◆ match()

void motion::motion_testing_nodes::MotionTestingPublisher::match	(	const std::size_t	tf_subs = `1U`,
		const std::size_t	state_subs = `1U`,
		const std::size_t	traj_subs = `1U`
	)		const

Blocks until all match conditions are satisfied, then published initial trajectory (semihack)