nav2_route::GeoJsonGraphFileSaver Class Reference

A GraphFileSaver plugin to save a geojson graph representation. More...

#include <nav2_route/include/nav2_route/plugins/graph_file_savers/geojson_graph_file_saver.hpp>

Inheritance diagram for nav2_route::GeoJsonGraphFileSaver:

Collaboration diagram for nav2_route::GeoJsonGraphFileSaver:

Public Types
using	Json = nlohmann::json
Public Types inherited from nav2_route::GraphFileSaver
using	Ptr = std::shared_ptr< GraphFileSaver >

Public Member Functions
	GeoJsonGraphFileSaver ()=default
	Constructor.
	~GeoJsonGraphFileSaver ()=default
	Destructor.
void	configure (const nav2_util::LifecycleNode::SharedPtr node) override
	Configure, but do not store the node. More...
bool	saveGraphToFile (Graph &graph, std::string filepath) override
	Saves the graph to a geojson file. More...
Public Member Functions inherited from nav2_route::GraphFileSaver
	GraphFileSaver ()=default
	Constructor.
virtual	~GraphFileSaver ()=default
	Virtual destructor.
virtual void	configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node)=0
	Configure the graph file saver, but do not store the node. More...

Protected Member Functions
void	loadNodesFromGraph (Graph &graph, std::vector< Json > &json_features)
	Add nodes into the graph. More...
void	loadEdgesFromGraph (Graph &graph, std::vector< Json > &json_edges)
	Add edges into the graph. More...
void	convertMetaDataToJson (const Metadata &metadata, Json &json_metadata)
	Convert graph metadata to Json. More...
void	convertOperationsToJson (const Operations &operations, Json &json_operations)
	Convert graph operation to Json. More...

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("GeoJsonGraphFileSaver")}

Detailed Description

A GraphFileSaver plugin to save a geojson graph representation.

Definition at line 35 of file geojson_graph_file_saver.hpp.

Member Function Documentation

configure()

void nav2_route::GeoJsonGraphFileSaver::configure ( const nav2_util::LifecycleNode::SharedPtr  node )

override

Configure, but do not store the node.

Parameters

parent

pointer to user's node

Definition at line 25 of file geojson_graph_file_saver.cpp.

convertMetaDataToJson()

void nav2_route::GeoJsonGraphFileSaver::convertMetaDataToJson ( const Metadata &  metadata, Json &  json_metadata  )

protected

Convert graph metadata to Json.

Parameters

metadata	Metadata from a node or edge in the graph
json_metadata	Json entry to store metadata in

Definition at line 116 of file geojson_graph_file_saver.cpp.

Referenced by convertOperationsToJson(), loadEdgesFromGraph(), and loadNodesFromGraph().

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convertOperationsToJson()

void nav2_route::GeoJsonGraphFileSaver::convertOperationsToJson ( const Operations &  operations, Json &  json_operations  )

protected

Convert graph operation to Json.

Parameters

Operations	Operations information from the graph
json_operations	Json entry to store operation data in

Definition at line 160 of file geojson_graph_file_saver.cpp.

References convertMetaDataToJson().

Referenced by loadEdgesFromGraph(), and loadNodesFromGraph().

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loadEdgesFromGraph()

void nav2_route::GeoJsonGraphFileSaver::loadEdgesFromGraph ( Graph &  graph, std::vector< Json > &  json_edges  )

protected

Add edges into the graph.

Parameters

[out]	graph	The graph that will contain the new edges
[in]	json_edges	Json array to add the edges to

Definition at line 88 of file geojson_graph_file_saver.cpp.

References convertMetaDataToJson(), and convertOperationsToJson().

Referenced by saveGraphToFile().

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loadNodesFromGraph()

void nav2_route::GeoJsonGraphFileSaver::loadNodesFromGraph ( Graph &  graph, std::vector< Json > &  json_features  )

protected

Add nodes into the graph.

Parameters

[out]	graph	The graph that will contain the new nodes
[in]	json_features	Json array to add the nodes to

Definition at line 61 of file geojson_graph_file_saver.cpp.

References convertMetaDataToJson(), and convertOperationsToJson().

Referenced by saveGraphToFile().

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saveGraphToFile()

bool nav2_route::GeoJsonGraphFileSaver::saveGraphToFile ( Graph &  graph, std::string  filepath  )

overridevirtual

Saves the graph to a geojson file.

Parameters

graph	The graph to save to the geojson file
filepath	The path to save the graph to

Returns

True if successful

Implements nav2_route::GraphFileSaver.

Definition at line 32 of file geojson_graph_file_saver.cpp.

References loadEdgesFromGraph(), and loadNodesFromGraph().

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

• nav2_route/include/nav2_route/plugins/graph_file_savers/geojson_graph_file_saver.hpp
• nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp