delphyne
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This class is the counterpart of Drake's LcmSubscriberSystem.
Most of the code has been taken from that class and adapted to the types of values that we use.
IGN_TYPE | must be a valid ignition message type. |
#include <src/backend/ign_subscriber_system.h>
Public Member Functions | |
IgnSubscriberSystem (const std::string &topic_name) | |
Default constructor. More... | |
~IgnSubscriberSystem () override | |
std::unique_ptr< drake::AbstractValue > | AllocateDefaultAbstractValue () const |
void | SetDefaultState (const drake::systems::Context< double > &, drake::systems::State< double > *state) const override |
const std::string & | get_topic_name () |
Returns the topic name it is subscribed to. More... | |
int | GetMessageCount (const drake::systems::Context< double > &context) const |
Returns the message counter stored in context . More... | |
Protected Member Functions | |
void | HandleMessage (const IGN_TYPE &ignition_message) |
void | DoCalcNextUpdateTime (const drake::systems::Context< double > &context, drake::systems::CompositeEventCollection< double > *events, double *time) const override |
void | DoCalcUnrestrictedUpdate (const drake::systems::Context< double > &, const std::vector< const drake::systems::UnrestrictedUpdateEvent< double > * > &, drake::systems::State< double > *state) const override |
void | ProcessMessageAndStoreToAbstractState (drake::systems::AbstractValues *abstract_state) const |
void | CalcIgnMessage (const drake::systems::Context< double > &context, drake::AbstractValue *output_value) const |
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explicit |
Default constructor.
[in] | topic_name | The name of the ignition topic this system will be subscribed to. |
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std::unique_ptr<drake::AbstractValue> AllocateDefaultAbstractValue | ( | ) | const |
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overrideprotected |
const std::string& get_topic_name | ( | ) |
Returns the topic name it is subscribed to.
int GetMessageCount | ( | const drake::systems::Context< double > & | context | ) | const |
Returns the message counter stored in context
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