chrono::ros::ChROSMessage Class Reference

Description

A mutable, schema-backed ROS 2 message (see file header).

Copyable like a lightweight handle: copies share the same underlying message.

#include <ChROSMessage.h>

Public Member Functions
void	SetBool (const std::string &path, bool value)
	Set a bool-typed field.
void	SetInt (const std::string &path, int64_t value)
	Set a signed-integer field (any int width; range-checked against the schema type).
void	SetUInt (const std::string &path, uint64_t value)
	Set an unsigned-integer field (any width; range-checked against the schema type).
void	SetDouble (const std::string &path, double value)
	Set a floating-point field (float32 or float64).
void	SetString (const std::string &path, const std::string &value)
	Set a string field.
void	SetBlob (const std::string &path, const void *data, size_t count)
	Primitive array/sequence from raw little-endian elements ('count' is the element count). More...
void	SetBlobCopy (const std::string &path, const void *data, size_t count)
	As SetBlob, but copies the elements immediately (no lifetime requirement on 'data').
void	SetBlobBytes (const std::string &path, const void *data, size_t nbytes)
	As SetBlobCopy, but sized in bytes (element count = nbytes / element_size, which must divide evenly). More...
void	SetStringArray (const std::string &path, const std::vector< std::string > &value)
	Set a string array/sequence field.
ChROSMessage	Nested (const std::string &path)
	Handle to a singular nested message field.
ChROSMessage	AppendMessage (const std::string &path)
	Append an element to a message array/sequence and return its handle.
void	SetTime (const std::string &path, double time_seconds)
	Fill a builtin_interfaces/Time-shaped field ("<path>.sec"/".nanosec") from seconds.
void	Clear ()
	Remove all values set so far.
std::string	DescribeType () const
	Pretty-print the message type's full field layout.

Friends
class	ChROSPublisher
class	ChROSBridge

Member Function Documentation

SetBlob()

void chrono::ros::ChROSMessage::SetBlob	(	const std::string &	path,
		const void *	data,
		size_t	count
	)

Primitive array/sequence from raw little-endian elements ('count' is the element count).

Zero-copy: the memory must stay valid until Publish() returns. Use SetBlobCopy when that is inconvenient.

SetBlobBytes()

void chrono::ros::ChROSMessage::SetBlobBytes	(	const std::string &	path,
		const void *	data,
		size_t	nbytes
	)

As SetBlobCopy, but sized in bytes (element count = nbytes / element_size, which must divide evenly).

For byte-oriented sources such as Python buffer-protocol objects, where only the byte length is known.

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

• /builds/uwsbel/chrono/src/chrono_ros/ChROSMessage.h
• /builds/uwsbel/chrono/src/chrono_ros/ChROSMessage.cpp