include_geometry_msgs_Twist.h

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00001  
00002 // ----------------------------------------------------------------------------
00003 //
00004 // $Id$
00005 //
00006 // Copyright 2008, 2009, 2010, 2011, 2012 Antonio Franchi and Paolo Stegagno
00007 //
00008 // This file is part of MIP.
00009 //
00010 // MIP is free software: you can redistribute it and/or modify
00011 // it under the terms of the GNU General Public License as published by
00012 // the Free Software Foundation, either version 3 of the License, or
00013 // (at your option) any later version.
00014 //
00015 // MIP is distributed in the hope that it will be useful,
00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00018 // GNU General Public License for more details.
00019 //
00020 // You should have received a copy of the GNU General Public License
00021 // along with MIP. If not, see <http://www.gnu.org/licenses/>.
00022 //
00023 // Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
00024 //
00025 // ----------------------------------------------------------------------------
00026 
00027 
00028 // each new message type requires from here to TOHERE
00035 bool getTopicMessage(int topicSpecifier, geometry_msgs::Twist &msg){
00036 return ((ROSiFace<geometry_msgs::Twist,geometry_msgs::Twist::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
00037 }
00038 
00045 bool getUpdateTopicMessage(int topicSpecifier, geometry_msgs::Twist &msg){
00046 if(_openTopics[topicSpecifier]->updateMessage());
00047 return ((ROSiFace<geometry_msgs::Twist,geometry_msgs::Twist::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
00048 }
00049 
00056 bool writeTopic(int topicSpecifier, const geometry_msgs::Twist &msg){
00057 return ((ROSiFace<geometry_msgs::Twist,geometry_msgs::Twist::ConstPtr>*)(_openTopics[topicSpecifier]))->sendMessage(msg);
00058 }
00059 
00063 void getTopicMessages(int topicSpecifier, deque<geometry_msgs::Twist> &msg){
00064 ((ROSiFace<geometry_msgs::Twist,geometry_msgs::Twist::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
00065 }
00066 
00070 void getUpdateTopicMessages(int topicSpecifier, deque<geometry_msgs::Twist> &msg){
00071 if(_openTopics[topicSpecifier]->updateMessage());
00072 ((ROSiFace<geometry_msgs::Twist,geometry_msgs::Twist::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
00073 }
00074 // TOHERE
00075 

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