c++ - Passing a variable between callback and main -


i'm using ros c++ , after receiving data topic in void callback(), need pass data variable in int main(). i've found out far can using boost shared pointer , should use "class in program callback member function". part of code far:

double pos_z; void callback(gazebo_msgs::linkstates msgs_ls) {    double pos_z = msgs_ls.pose[43].position.z    pos_z = pos_z + 1; } int main(int argc, char **argv) {    ros::init(...);    ros::nodehandle n;    ros::subscriber ls_sub = n.subscribe("/gazebo/link_states", 10, callback);    ros::serviceclient sls_client = n.serviceclient<gazebo_msgs::setlinkstate>("/gazebo/set_link_state");    gazebo_msgs::setlinkstate setlinkstate;    while (ros::ok))    {       setlinkstate.request.link_state.position.z = pos_z;       sls_client.call(setlinkstate);   }

about shared pointer: boost::shared_ptr<double> a_ptr(&a, noop_delete auto noop_delete = [](double *){} don't understand how implement this. mentioned class callback member function unclear me. examples show implementations using c, , don't know if can use that. thank help.

the advice given :

use "class in program callback member function"

you :

class supercoolrobot { public:   supercoolrobot ():pos_z(0) {     // note : provide callback (a member) + state (this)     ls_sub = n.subscribe("/gazebo/link_states", 10, supercoolrobot::link_state_callback, this);   }    void link_state_callback(gazebo_msgs::linkstates msgs_ls) {     pos_z = msgs_ls.pose[43].position.z + 1;   }    void run() {     gazebo_msgs::setlinkstate setlinkstate;     while (ros::ok))     {       setlinkstate.request.link_state.position.z = pos_z;       sls_client.call(setlinkstate);     }   } protected:   // state here   ros::nodehandle n;   ros::subscriber ls_sub;   double pos_z; };

then main :

int main(int argc, char **argv) {   supercoolrobot robot;   robot.run(); }

note don't know ros threw understood code. ajust of course.


Comments

Post a Comment

Popular posts from this blog

Why does Ruby on Rails generate add a blank line to the end of a file? -

running rails generate controller foo home results in: class foocontroller < application controller def home end end (there's nothing on line in actual file, blank line) is there purpose blank line? it's common use newline indicate end of line, last line. many editors (like vi, use) add in newline silently. consensus text files (especially in unix world) should end in newline, , there have been problems historically if wasn't present. why should text files end newline? the tool used count lines in file "wc" counts newlines in file, without trailing newline show 3 instead of 4. it improves readability of templates used in generator. consider: https://github.com/rails/rails/blob/master/railties/lib/rails/generators/rails/controller/templates/controller.rb to remove trailing newline, template have last line of: end<% end -%> instead of: end <% end -%> that seems less readable me. the discussion below refers
Read more

keyboard - Smiles and long press feature in Android -

i've created android keyboard. how add features inserting smilies, , using long keypresses display symbols? to create long-press behavior allows select several options pop-up menu, follow guide (specifically pop-up menu section): http://developer.android.com/guide/topics/ui/menus.html smileys (also known emoticons) combination of keys, understood programs , parsed same way. have do, when clicks smiley face on keyboard, simulate pressing of key combination matching emoticon. example, when clicks smiley, should simulate key presses ':' , ')' :). here's list of emoticons: http://en.wikipedia.org/wiki/list_of_emoticons
Read more

node.js - Bad Request - node js ajax post -

i'm using express 3.0 , node v0.11.0. have button submits form , i'm using ajax post data json object node server. client code is: $('#contact').submit(function(e) { console.log('submit called'); var formdata = json.stringify($('form').serializeobject()); console.log(formdata); $.ajax({ url: "http://localhost:3000/savedata/", type: "post", datatype: 'json', data: {objectdata: formdata}, contenttype: "application/json", complete: function() { console.log('process complete'); }, success: function(data) { console.log('process sucess'); }, error: function() { console.log('process error'); }, }); return false; }); then on server: var express = require('express'); var app = express(); app.set('views', __dirname + '/views'); app.set('view engine', 'jade'); app.use(express.bodyparser());
Read more