Class robot_interfaces::SensorBackend

template<typename ObservationType, typename InfoType = None>
class SensorBackend

Communication link between SensorData and SensorDriver.

At each instant, it checks if the sensor can be accessed, and then gets the observation from it (the observation type depends on the sensor) and appends it to the sensor data.

Template Parameters:

ObservationType –

Public Types

typedef std::shared_ptr<SensorBackend<ObservationType, InfoType>> Ptr

typedef std::shared_ptr<const SensorBackend<ObservationType, InfoType>> ConstPtr

typedef std::shared_ptr<SensorBackend<ObservationType, InfoType>> Ptr

typedef std::shared_ptr<const SensorBackend<ObservationType, InfoType>> ConstPtr

Public Functions

inline SensorBackend(std::shared_ptr<SensorDriver<ObservationType, InfoType>> sensor_driver, std::shared_ptr<SensorData<ObservationType, InfoType>> sensor_data)

Parameters:

• sensor_driver – Driver instance for the sensor.

• sensor_data – Data is sent to/retrieved from here.

SensorBackend(SensorBackend&&) = default

inline void shutdown()

Stop the backend thread.

inline virtual ~SensorBackend()

inline SensorBackend(std::shared_ptr<SensorDriver<ObservationType, InfoType>> sensor_driver, std::shared_ptr<SensorData<ObservationType, InfoType>> sensor_data)

Parameters:

• sensor_driver – Driver instance for the sensor.

• sensor_data – Data is sent to/retrieved from here.

SensorBackend(SensorBackend&&) = default

inline void shutdown()

Stop the backend thread.

inline virtual ~SensorBackend()