RosPublisherDoubleArray.hpp

Go to the documentation of this file.

#ifndef ORG_EEROS_CONTROL_ROSPUBLISHER_DOUBLEARRAY_HPP
#define ORG_EEROS_CONTROL_ROSPUBLISHER_DOUBLEARRAY_HPP

#include <eeros/control/ros/RosPublisher.hpp>
#include <eeros/math/Matrix.hpp>
#include <std_msgs/Float64MultiArray.h>

namespace eeros {
    namespace control {

        template < typename SigInType >
        class RosPublisherDoubleArray : public RosPublisher<std_msgs::Float64MultiArray::Type, SigInType> {
            typedef std_msgs::Float64MultiArray::Type TRosMsg;
        public:
            RosPublisherDoubleArray(const std::string& topic, const uint32_t queueSize=1000) :
                RosPublisher<TRosMsg, SigInType>(topic, queueSize) { }
                
            void setRosMsg(TRosMsg& msg) {
                if (this->in.isConnected()) {
                    auto val = this->in.getSignal().getValue();
                    auto valTmpDouble = val.getColVector(0);
                    msg.data = valTmpDouble;
                }
            }
        };
    };
};

#endif // ORG_EEROS_CONTROL_ROSPUBLISHER_DOUBLEARRAY_HPP