rclcpp_components::NodeInstanceWrapper Class Reference

The NodeInstanceWrapper encapsulates the node instance. More...

#include <node_instance_wrapper.hpp>

Public Types
using	NodeBaseInterfaceGetter = std::function< rclcpp::node_interfaces::NodeBaseInterface::SharedPtr(const std::shared_ptr< void > &)>

Public Member Functions
	NodeInstanceWrapper ()
	NodeInstanceWrapper (std::shared_ptr< void > node_instance, NodeBaseInterfaceGetter node_base_interface_getter)
const std::shared_ptr< void >	get_node_instance () const
	Get a type-erased pointer to the original Node instance. More...
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
	Get NodeBaseInterface pointer for the encapsulated Node Instance. More...

Detailed Description

The NodeInstanceWrapper encapsulates the node instance.

Member Typedef Documentation

NodeBaseInterfaceGetter

using rclcpp_components::NodeInstanceWrapper::NodeBaseInterfaceGetter = std::function< rclcpp::node_interfaces::NodeBaseInterface::SharedPtr(const std::shared_ptr<void> &)>

Constructor & Destructor Documentation

NodeInstanceWrapper() [1/2]

rclcpp_components::NodeInstanceWrapper::NodeInstanceWrapper ( )

inline

NodeInstanceWrapper() [2/2]

rclcpp_components::NodeInstanceWrapper::NodeInstanceWrapper ( std::shared_ptr< void >  node_instance, NodeBaseInterfaceGetter  node_base_interface_getter  )

inline

Member Function Documentation

get_node_instance()

const std::shared_ptr<void> rclcpp_components::NodeInstanceWrapper::get_node_instance ( ) const

inline

Get a type-erased pointer to the original Node instance.

This is only for debugging and special cases. For most cases get_node_base_interface will be sufficient.

Returns

Shared pointer to the encapsulated Node instance.

get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp_components::NodeInstanceWrapper::get_node_base_interface ( )

inline

Get NodeBaseInterface pointer for the encapsulated Node Instance.

Returns

Shared NodeBaseInterface pointer of the encapsulated Node instance.

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

• include/rclcpp_components/node_instance_wrapper.hpp