robowflex::IO::Bag Class Reference

rosbag management class to ease message saving and loading. More...

#include <bag.h>

Public Types
enum	Mode {   READ ,   WRITE }
	File modes. More...

Public Member Functions
	Bag (const std::string &file, Mode mode=WRITE)
	Constructor. More...
	~Bag ()
	Destructor. Closes opened bag. More...
template<typename T >
bool	addMessage (const std::string &topic, const T &msg)
	Adds a message to the bag under topic. More...
template<typename T >
std::vector< T >	getMessages (const std::vector< std::string > &topics)
	Gets messages from an opened bag. Returns all messages of type T from a list of topics topics. More...

Private Attributes
const Mode	mode_
	Mode to open file in. More...
const std::string	file_
	File opened. More...
rosbag::Bag	bag_
	rosbag opened. More...

Detailed Description

rosbag management class to ease message saving and loading.

Definition at line 22 of file bag.h.

Member Enumeration Documentation

Mode

enum robowflex::IO::Bag::Mode

File modes.

Enumerator
READ	Read-only.
WRITE	Write-only.

Definition at line 27 of file bag.h.

            {
                READ,  ///< Read-only
                WRITE  ///< Write-only
            };

Constructor & Destructor Documentation

Bag()

IO::Bag::Bag	(	const std::string &	file,
		Mode	mode = WRITE
	)

Constructor.

Parameters

[in]	file	File to open or create.
[in]	mode	Mode to open file in.

IO::Bag

Definition at line 398 of file robowflex_library/src/io.cpp.

  : mode_(mode)
  , file_((mode_ == WRITE) ? file : IO::resolvePath(file))
  , bag_(file_, (mode_ == WRITE) ? rosbag::bagmode::Write : rosbag::bagmode::Read)
{
}

~Bag()

IO::Bag::~Bag

(

)

Destructor. Closes opened bag.

Definition at line 405 of file robowflex_library/src/io.cpp.

{
    bag_.close();
}

Member Function Documentation

addMessage()

template<typename T >

bool robowflex::IO::Bag::addMessage ( const std::string &  topic, const T &  msg  )

inline

Adds a message to the bag under topic.

Parameters

[in]	topic	Topic to save message under.
[in]	msg	Message to write.

Template Parameters

T	Type of message.

Definition at line 50 of file bag.h.

            {
                if (mode_ == WRITE)
                {
                    bag_.write(topic, ros::Time::now(), msg);
                    return true;
                }
 
                return false;
            }

getMessages()

template<typename T >

std::vector<T> robowflex::IO::Bag::getMessages ( const std::vector< std::string > &  topics )

inline

Gets messages from an opened bag. Returns all messages of type T from a list of topics topics.

Parameters

[in]

topics

List of topics to load messages from.

Template Parameters

T	type of messages to load from topics.

Definition at line 67 of file bag.h.

            {
                std::vector<T> msgs;
 
                if (mode_ != READ)
                    return msgs;
 
                rosbag::View view(bag_, rosbag::TopicQuery(topics));
                for (auto &msg : view)
                {
                    typename T::ConstPtr ptr = msg.instantiate<T>();
                    if (ptr != nullptr)
                        msgs.emplace_back(*ptr);
                }
 
                return msgs;
            }

Member Data Documentation

bag_

rosbag::Bag robowflex::IO::Bag::bag_

private

rosbag opened.

Definition at line 88 of file bag.h.

file_

const std::string robowflex::IO::Bag::file_

private

File opened.

Definition at line 87 of file bag.h.

mode_

const Mode robowflex::IO::Bag::mode_

private

Mode to open file in.

Definition at line 86 of file bag.h.

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

• bag.h
• robowflex_library/src/io.cpp