auterion::SDK Class Reference

SDK execution class. All callbacks are called on the same thread. More...

#include <auterion_sdk/auterion.hpp>

Public Member Functions
	SDK (int argc, char **argv, const std::string &node_name)
void	setSkipFlightControllerConnectionCheck (bool skip)
void	run (RunOptions options=RunOptions())
rclcpp::Node::SharedPtr	defaultRosHandle () const
rclcpp::Time	now () const
void	addNode (rclcpp::Node::SharedPtr node)
void	removeNode (rclcpp::Node::SharedPtr node)
const rclcpp::executors::SingleThreadedExecutor::UniquePtr &	executor () const
template<typename T >
T	getParameter (const std::string &name, std::function< void(const T &)> on_change_callback=nullptr)
	Get a parameter value and optionally register a callback for changes. More...
template<typename T >
void	setParameter (const std::string &name, const T &value)
	Set a parameter. More...
template<>
bool	getParameter (const std::string &name, std::function< void(const bool &)> on_change_callback)
template<>
int64_t	getParameter (const std::string &name, std::function< void(const int64_t &)> on_change_callback)
template<>
int	getParameter (const std::string &name, std::function< void(const int &)> on_change_callback)
template<>
float	getParameter (const std::string &name, std::function< void(const float &)> on_change_callback)
template<>
double	getParameter (const std::string &name, std::function< void(const double &)> on_change_callback)
template<>
std::string	getParameter (const std::string &name, std::function< void(const std::string &)> on_change_callback)
template<>
std::vector< bool >	getParameter (const std::string &name, std::function< void(const std::vector< bool > &)> on_change_callback)
template<>
std::vector< int64_t >	getParameter (const std::string &name, std::function< void(const std::vector< int64_t > &)> on_change_callback)
template<>
std::vector< int >	getParameter (const std::string &name, std::function< void(const std::vector< int > &)> on_change_callback)
template<>
std::vector< float >	getParameter (const std::string &name, std::function< void(const std::vector< float > &)> on_change_callback)
template<>
std::vector< double >	getParameter (const std::string &name, std::function< void(const std::vector< double > &)> on_change_callback)
template<>
std::vector< std::string >	getParameter (const std::string &name, std::function< void(const std::vector< std::string > &)> on_change_callback)
template<>
void	setParameter (const std::string &name, const bool &value)
template<>
void	setParameter (const std::string &name, const int64_t &value)
template<>
void	setParameter (const std::string &name, const int &value)
template<>
void	setParameter (const std::string &name, const float &value)
template<>
void	setParameter (const std::string &name, const double &value)
template<>
void	setParameter (const std::string &name, const std::string &value)
template<>
void	setParameter (const std::string &name, const std::vector< bool > &value)
template<>
void	setParameter (const std::string &name, const std::vector< int64_t > &value)
template<>
void	setParameter (const std::string &name, const std::vector< int > &value)
template<>
void	setParameter (const std::string &name, const std::vector< float > &value)
template<>
void	setParameter (const std::string &name, const std::vector< double > &value)
template<>
void	setParameter (const std::string &name, const std::vector< std::string > &value)

Static Public Member Functions
template<typename T >
static constexpr void	verify_param ()

Detailed Description

SDK execution class. All callbacks are called on the same thread.

Member Function Documentation

getParameter()

template<typename T >

T auterion::SDK::getParameter ( const std::string &  name, std::function< void(const T &)>  on_change_callback = nullptr  )

inline

Get a parameter value and optionally register a callback for changes.

The parameter name must be defined in auterion-app.yml. The type must match (or be convertible from) the parameter type in the yaml definition.

Parameters

name	parameter name
on_change_callback	optional callback for dynamic parameter changes

Exceptions

ParameterException

on error

setParameter()

template<typename T >

void auterion::SDK::setParameter ( const std::string &  name, const T &  value  )

inline

Set a parameter.

The parameter name must be defined in auterion-app.yml. The type must match (or be convertible from) the parameter type in the yaml definition.

Parameters

name	parameter name
value	value to set parameter toq

Exceptions

ParameterException

on error

setSkipFlightControllerConnectionCheck()

void auterion::SDK::setSkipFlightControllerConnectionCheck ( bool  skip )

inline

By default, run() will first check if the flight controller is connected and ensure message format compatibility. This method can be used to disable that check.

Parameters

skip

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The documentation for this class was generated from the following file:

• include/auterion_sdk/auterion.hpp