Transcribe state messages (VectorStamped) into other types. More...
Public Member Functions | |
DMTranscriber (ros::NodeHandle &nh, int i0, int i1=-1, int i2=-1) | |
Instantiate transcriber with given mapping. More... | |
Transcribe state messages (VectorStamped) into other types.
This object subscribes to "/dynamaestro/state" and publishes to "state_PointStamped". Upon instantiation, a mapping of indices of the state vector to x,y,z coordinates must be given. Consult documentation of the constructor DMTranscriber().
The object is robust to changes in the state vector size. When applying the mapping, it ignores indices that are out of range.
DMTranscriber::DMTranscriber | ( | ros::NodeHandle & | nh, |
int | i0, | ||
int | i1 = -1 , |
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int | i2 = -1 |
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) |
Instantiate transcriber with given mapping.
i0 | index of the vector that should be mapped to Point::x |
i1 | index of the vector that should be mapped to Point::y, or -1 if no mapping should occur for y, in which case Point::y is assigned 0. |
i2 | analogous to i1 but for Point::z. |