burlap.ros.actionpub

Class ActionStringPublisher

java.lang.Object

burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

burlap.ros.actionpub.ActionStringPublisher

All Implemented Interfaces:

ActionPublisher

public class ActionStringPublisher
extends ActionPublisher.DirectActionPublisher

An ActionPublisher that publishes to ROS a std_msgs/String containing the string representation of the Action to be published. The publishAction(Action) method will return a constant time delay specified by the constructor of this class.

Author:

James MacGlashan.

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 int	delayTime The time delay to return

Fields inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

pub

Constructor Summary

Constructors

Constructor and Description
ActionStringPublisher(ros.Publisher pub, int delayTime) Initializes
ActionStringPublisher(String topic, ros.RosBridge rosBridge, int delayTime) Initializes

Method Summary

Modifier and Type	Method and Description
int	getDelayTime()
int	publishAction(burlap.mdp.core.action.Action a) Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object.
void	setDelayTime(int delayTime)

Methods inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

getPub, publish, setPub

Methods inherited from class java.lang.Object

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

Field Detail

delayTime

protected int delayTime

The time delay to return

Constructor Detail

ActionStringPublisher

public ActionStringPublisher(String topic,
                             ros.RosBridge rosBridge,
                             int delayTime)

Initializes

Parameters:

topic - the ROS topic which should be of type std_msgs/String to which actions will be published.

rosBridge - the RosBridge connection

delayTime - the delay time the publishAction(Action) method will return.

ActionStringPublisher

public ActionStringPublisher(ros.Publisher pub,
                             int delayTime)

Initializes

Parameters:

pub - the std_msgs/String message type publisher to use

delayTime - the delay time the publishAction(Action) method will return.

Method Detail

getDelayTime

public int getDelayTime()

setDelayTime

public void setDelayTime(int delayTime)

publishAction

public int publishAction(burlap.mdp.core.action.Action a)

Description copied from interface: ActionPublisher

Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object. Note that when you implement this method, you must make the publish call to ROSBridge yourself using a Publisher object.

Parameters:

a - The BURLAP Action to turn into a ROS message and publish.

Returns:

the time in milliseconds that the calling code should wait for the published action to finish executing. Will return 0 if this method blocks until ROS action completion.