api/rclcpp/utilities_8hpp_source.html

 // Copyright 2014 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
 //     http://www.apache.org/licenses/LICENSE-2.0
 //
 // Unless required by applicable law or agreed to in writing, software
 // distributed under the License is distributed on an "AS IS" BASIS,
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.

 #ifndef RCLCPP__UTILITIES_HPP_
 #define RCLCPP__UTILITIES_HPP_

 #include <chrono>
 #include <functional>
 #include <limits>
 #include <string>
 #include <vector>

 #include "rclcpp/context.hpp"
 #include "rclcpp/init_options.hpp"
 #include "rclcpp/visibility_control.hpp"

 #ifdef ANDROID
 #include <sstream>

 namespace std
 {
 template<typename T>
 std::string to_string(T value)
 {
   std::ostringstream os;
   os << value;
   return os.str();
 }
 }
 #endif

 namespace rclcpp
 {

 RCLCPP_PUBLIC
 void
 init(int argc, char const * const argv[], const InitOptions & init_options = InitOptions());


 RCLCPP_PUBLIC
 bool
 install_signal_handlers();

 RCLCPP_PUBLIC
 bool
 signal_handlers_installed();


 RCLCPP_PUBLIC
 bool
 uninstall_signal_handlers();


 RCLCPP_PUBLIC
 std::vector<std::string>
 init_and_remove_ros_arguments(
   int argc,
   char const * const argv[],
   const InitOptions & init_options = InitOptions());


 RCLCPP_PUBLIC
 std::vector<std::string>
 remove_ros_arguments(int argc, char const * const argv[]);


 RCLCPP_PUBLIC
 bool
 ok(rclcpp::Context::SharedPtr context = nullptr);


 RCLCPP_PUBLIC
 bool
 is_initialized(rclcpp::Context::SharedPtr context = nullptr);


 RCLCPP_PUBLIC
 bool
 shutdown(
   rclcpp::Context::SharedPtr context = nullptr,
   const std::string & reason = "user called rclcpp::shutdown()");


 RCLCPP_PUBLIC
 void
 on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context = nullptr);


 RCLCPP_PUBLIC
 bool
 sleep_for(
   const std::chrono::nanoseconds & nanoseconds,
   rclcpp::Context::SharedPtr context = nullptr);


 template<typename T>
 bool
 add_will_overflow(const T x, const T y)
 {
   return (y > 0) && (x > (std::numeric_limits<T>::max() - y));
 }


 template<typename T>
 bool
 add_will_underflow(const T x, const T y)
 {
   return (y < 0) && (x < (std::numeric_limits<T>::min() - y));
 }


 template<typename T>
 bool
 sub_will_overflow(const T x, const T y)
 {
   return (y < 0) && (x > (std::numeric_limits<T>::max() + y));
 }


 template<typename T>
 bool
 sub_will_underflow(const T x, const T y)
 {
   return (y > 0) && (x < (std::numeric_limits<T>::min() + y));
 }


 RCLCPP_PUBLIC
 const char *
 get_c_string(const char * string_in);


 RCLCPP_PUBLIC
 const char *
 get_c_string(const std::string & string_in);

 }  // namespace rclcpp

 #endif  // RCLCPP__UTILITIES_HPP_
rclcpp::signal_handlers_installed
bool signal_handlers_installed()
Return true if the signal handlers are installed, otherwise false.

std::chrono::nanoseconds

std::function

rclcpp::sub_will_overflow
bool sub_will_overflow(const T x, const T y)
Safely check if subtraction will overflow.
Definition: utilities.hpp:263

std::to_string
T to_string(T... args)

rclcpp
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24

std

rclcpp::add_will_underflow
bool add_will_underflow(const T x, const T y)
Safely check if addition will underflow.
Definition: utilities.hpp:246

rclcpp::shutdown
bool shutdown(rclcpp::Context::SharedPtr context=nullptr, const std::string &reason="user called rclcpp::shutdown()")
Shutdown rclcpp context, invalidating it for derived entities.

context.hpp

rclcpp::get_c_string
const char * get_c_string(const std::string &string_in)
Return the C string from the given std::string.

rclcpp::init
void init(int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
Initialize communications via the rmw implementation and set up a global signal handler.

rclcpp::sleep_for
bool sleep_for(const std::chrono::nanoseconds &nanoseconds, rclcpp::Context::SharedPtr context=nullptr)
Use the global condition variable to block for the specified amount of time.

std::string

init_options.hpp

std::ostringstream

rclcpp::sub_will_underflow
bool sub_will_underflow(const T x, const T y)
Safely check if subtraction will underflow.
Definition: utilities.hpp:280

rclcpp::is_initialized
bool is_initialized(rclcpp::Context::SharedPtr context=nullptr)
Return true if init() has already been called for the given context.

std::ostringstream::str
T str(T... args)

rclcpp::on_shutdown
void on_shutdown(std::function< void()> callback, rclcpp::Context::SharedPtr context=nullptr)
Register a function to be called when shutdown is called on the context.

rclcpp::add_will_overflow
bool add_will_overflow(const T x, const T y)
Safely check if addition will overflow.
Definition: utilities.hpp:229

std::numeric_limits::max
T max(T... args)

std::vector< std::string >

RCLCPP_PUBLIC
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50

rclcpp::ok
bool ok(rclcpp::Context::SharedPtr context=nullptr)
Check rclcpp&#39;s status.

rclcpp::init_and_remove_ros_arguments
std::vector< std::string > init_and_remove_ros_arguments(int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
Initialize communications via the rmw implementation and set up a global signal handler.

visibility_control.hpp

rclcpp::uninstall_signal_handlers
bool uninstall_signal_handlers()
Uninstall the global signal handler for rclcpp.

rclcpp::remove_ros_arguments
std::vector< std::string > remove_ros_arguments(int argc, char const *const argv[])
Remove ROS-specific arguments from argument vector.

rclcpp::install_signal_handlers
bool install_signal_handlers()
Install the global signal handler for rclcpp.