message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 > Class Template Reference

#include <time_synchronizer.h>

Detailed Description

template<class M0, class M1, class M2 = NullType, class M3 = NullType, class M4 = NullType, class M5 = NullType, class M6 = NullType, class M7 = NullType, class M8 = NullType>
class message_filters::TimeSynchronizer< M0, M1, M2, M3, M4, M5, M6, M7, M8 >

Synchronizes up to 9 messages by their timestamps.

TimeSynchronizer synchronizes up to 9 incoming channels by the timestamps contained in their messages' headers. TimeSynchronizer takes anywhere from 2 to 9 message types as template parameters, and passes them through to a callback which takes a shared pointer of each.

The required queue size parameter when constructing the TimeSynchronizer tells it how many sets of messages it should store (by timestamp) while waiting for messages to arrive and complete their "set"

CONNECTIONS

The input connections for the TimeSynchronizer object is the same signature as for roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<M const>&);

The output connection for the TimeSynchronizer object is dependent on the number of messages being synchronized. For a 3-message synchronizer for example, it would be:

void callback(const boost::shared_ptr<M0 const>&, const boost::shared_ptr<M1 const>&, const boost::shared_ptr<M2 const>&);

USAGE

Example usage would be:

TimeSynchronizer<sensor_msgs::CamInfo, sensor_msgs::Image, sensor_msgs::Image> sync(caminfo_sub, limage_sub, rimage_sub, 3);
sync.registerCallback(callback);

The callback is then of the form:

void callback(const sensor_msgs::CamInfo::ConstPtr&, const sensor_msgs::Image::ConstPtr&, const sensor_msgs::Image::ConstPtr&);

Definition at line 111 of file time_synchronizer.h.


Public Types
typedef boost::shared_ptr< M0 const >	M0ConstPtr
typedef boost::shared_ptr< M1 const >	M1ConstPtr
typedef boost::shared_ptr< M2 const >	M2ConstPtr
typedef boost::shared_ptr< M3 const >	M3ConstPtr
typedef boost::shared_ptr< M4 const >	M4ConstPtr
typedef boost::shared_ptr< M5 const >	M5ConstPtr
typedef boost::shared_ptr< M6 const >	M6ConstPtr
typedef boost::shared_ptr< M7 const >	M7ConstPtr
typedef boost::shared_ptr< M8 const >	M8ConstPtr
typedef boost::signal< void(const M0ConstPtr &, const M1ConstPtr &, const M2ConstPtr &, const M3ConstPtr &, const M4ConstPtr &, const M5ConstPtr &, const M6ConstPtr &, const M7ConstPtr &, const M8ConstPtr &)>	Signal
typedef boost::tuple < M0ConstPtr, M1ConstPtr, M2ConstPtr, M3ConstPtr, M4ConstPtr, M5ConstPtr, M6ConstPtr, M7ConstPtr, M8ConstPtr >	Tuple
Public Member Functions
void	add0 (const M0ConstPtr &msg)
void	add1 (const M1ConstPtr &msg)
void	add2 (const M2ConstPtr &msg)
void	add3 (const M3ConstPtr &msg)
void	add4 (const M4ConstPtr &msg)
void	add5 (const M5ConstPtr &msg)
void	add6 (const M6ConstPtr &msg)
void	add7 (const M7ConstPtr &msg)
void	add8 (const M8ConstPtr &msg)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7, class F8>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6)
template<class F0, class F1, class F2, class F3, class F4, class F5>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5)
template<class F0, class F1, class F2, class F3, class F4>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4)
template<class F0, class F1, class F2, class F3>
void	connectInput (F0 &f0, F1 &f1, F2 &f2, F3 &f3)
template<class F0, class F1, class F2>
void	connectInput (F0 &f0, F1 &f1, F2 &f2)
template<class F0, class F1>
void	connectInput (F0 &f0, F1 &f1)
const std::string &	getName ()
template<class C>
Connection	registerCallback (const C &callback)
void	setName (const std::string &name)
	TimeSynchronizer (uint32_t queue_size)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7, class F8>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, F8 &f8, uint32_t queue_size)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, F7 &f7, uint32_t queue_size)
template<class F0, class F1, class F2, class F3, class F4, class F5, class F6>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, F6 &f6, uint32_t queue_size)
template<class F0, class F1, class F2, class F3, class F4, class F5>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, F5 &f5, uint32_t queue_size)
template<class F0, class F1, class F2, class F3, class F4>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, F4 &f4, uint32_t queue_size)
template<class F0, class F1, class F2, class F3>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, F3 &f3, uint32_t queue_size)
template<class F0, class F1, class F2>
	TimeSynchronizer (F0 &f0, F1 &f1, F2 &f2, uint32_t queue_size)
template<class F0, class F1>
	TimeSynchronizer (F0 &f0, F1 &f1, uint32_t queue_size)
	~TimeSynchronizer ()
Private Types
typedef std::map< ros::Time, Tuple >	M_TimeToTuple
Private Member Functions
void	cb0 (const M0ConstPtr &msg)
void	cb1 (const M1ConstPtr &msg)
void	cb2 (const M2ConstPtr &msg)
void	cb3 (const M3ConstPtr &msg)
void	cb4 (const M4ConstPtr &msg)
void	cb5 (const M5ConstPtr &msg)
void	cb6 (const M6ConstPtr &msg)
void	cb7 (const M7ConstPtr &msg)
void	cb8 (const M8ConstPtr &msg)
void	checkTuple (Tuple &t)
void	clearOldTuples ()
void	determineRealTypeCount ()
void	disconnect (const Connection &c)
void	disconnectAll ()
Private Attributes
Connection	input_connections_ [TIME_SYNCHRONIZER_MAX_MESSAGES]
ros::Time	last_signal_time_
std::string	name_
uint32_t	queue_size_
uint32_t	real_type_count_
Signal	signal_
boost::mutex	signal_mutex_
M_TimeToTuple	tuples_
boost::mutex	tuples_mutex_