burlap.ros.actionpub

Class ActionPublisher.DirectActionPublisher

java.lang.Object

burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

All Implemented Interfaces:

ActionPublisher

Direct Known Subclasses:

ActionMessagePublisher, ActionStringPublisher, RepeatingActionPublisher

Enclosing interface:

ActionPublisher

public abstract static class ActionPublisher.DirectActionPublisher
extends Object
implements ActionPublisher

An abstract class that implements ActionPublisher and provides a Publisher data member, constructors, and setters and getters for streamlining the publishing of messages to ROS BRidge. Note that you still need to implement the ActionPublisher.publishAction(Action) method yourself and within that method you will need to publish the created message to this objects Publisher pub data member or use this objects publish(Object) method to indirectly publish to the data member.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.ros.actionpub.ActionPublisher

ActionPublisher.DirectActionPublisher

Field Summary

Fields

Modifier and Type	Field and Description
protected ros.Publisher	pub The Rosbridge Publisher used to publish action messages.

Constructor Summary

Constructors

Constructor and Description
DirectActionPublisher(ros.Publisher pub) Initializes with a Publisher for publishing action messages to ROS.
DirectActionPublisher(String topic, String msgType, ros.RosBridge rosBridge) Initializes with a Publisher for this action using the specified topic, message type, and RosBridge connection.

Method Summary

Modifier and Type	Method and Description
ros.Publisher	getPub() Returns the Publisher used to publish action messages to ROS
void	publish(Object msg) Publishes a ROS message specified by the msg argument via this object's Publisher pub data instances.
void	setPub(ros.Publisher pub) Sets the Publisher used to publish action messages to ROS

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface burlap.ros.actionpub.ActionPublisher

publishAction

Field Detail

pub

protected ros.Publisher pub

The Rosbridge Publisher used to publish action messages.

Constructor Detail

DirectActionPublisher

public DirectActionPublisher(String topic,
                             String msgType,
                             ros.RosBridge rosBridge)

Initializes with a Publisher for this action using the specified topic, message type, and RosBridge connection.

Parameters:

topic - the ros topic to which messages will be published

msgType - the ros message type of th target topic

rosBridge - the RosBridge connection to use.

DirectActionPublisher

public DirectActionPublisher(ros.Publisher pub)

Initializes with a Publisher for publishing action messages to ROS.

Parameters:

pub - the Publisher used to publish action messages to ROS.

Method Detail

getPub

public ros.Publisher getPub()

Returns the Publisher used to publish action messages to ROS

Returns:

the Publisher used to publish action messages to ROS

setPub

public void setPub(ros.Publisher pub)

Sets the Publisher used to publish action messages to ROS

Parameters:

pub - the Publisher used to publish action messages to ROS

publish

public void publish(Object msg)

Publishes a ROS message specified by the msg argument via this object's Publisher pub data instances. Simply calls this.pub.publish(msg)

Parameters:

msg - the ROS message to publish