An object to save graph objects to a file. More...

Collaboration diagram for nav2_route::GraphSaver:

Public Member Functions
	GraphSaver (nav2::LifecycleNode::SharedPtr node, std::shared_ptr< tf2_ros::Buffer > tf, const std::string frame)
	A constructor for nav2_route::GraphSaver. More...

	~GraphSaver ()=default
	A destructor for nav2_route::GraphSaver.

bool	saveGraphToFile (Graph &graph, std::string filepath="")
	Saves a graph object to a file. More...

bool	transformGraph (Graph &graph)
	Transform the coordinates in the graph to the route frame. More...

Protected Attributes
std::string	route_frame_

std::string	graph_filepath_

std::shared_ptr< tf2_ros::Buffer >	tf_

rclcpp::Logger	logger_ {rclcpp::get_logger("GraphSaver")}

pluginlib::ClassLoader< GraphFileSaver >	plugin_loader_

GraphFileSaver::Ptr	graph_file_saver_

std::string	default_plugin_id_

std::string	plugin_type_

Detailed Description

An object to save graph objects to a file.

Definition at line 41 of file graph_saver.hpp.

Constructor & Destructor Documentation

nav2_route::GraphSaver::GraphSaver	(	nav2::LifecycleNode::SharedPtr	node,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		const std::string	frame
	)

explicit

Parameters

node	Lifecycle node encapsulated by the GraphSaver
tf	A tf buffer
frame	Coordinate frame that the graph belongs to

Definition at line 23 of file graph_saver.cpp.

bool nav2_route::GraphSaver::saveGraphToFile	(	Graph &	graph,
		std::string	filepath = `""`
	)

Saves a graph object to a file.

Parameters

graph	Graph to save
filepath	The filepath to the graph data

Definition at line 64 of file graph_saver.cpp.

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bool nav2_route::GraphSaver::transformGraph ( Graph & graph )

Transform the coordinates in the graph to the route frame.

Parameters

[in/out] graph The graph to be transformed

Definition at line 100 of file graph_saver.cpp.

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