fkie_message_filters::Divider< Inputs > Class Template Reference

Split an N-ary source into N unary ones. More...

#include <fkie_message_filters/divider.h>

Inheritance diagram for fkie_message_filters::Divider< Inputs >:

Collaboration diagram for fkie_message_filters::Divider< Inputs >:

Public Types
using	Connections = std::array< Connection, NUM_INPUTS >
	Array of connection objects.
using	Input = IO< Inputs... >
	Grouped input types. More...
template<std::size_t N>
using	SourceType = helpers::select_nth< N, Source< Inputs >... >
	Base class of the Nth source.

Public Member Functions
Connections	connect_to_sinks (Sink< Inputs > &... sinks) noexcept
	Convenience function to connect all sources at once. More...
Connection	connect_to_source (Source< Inputs... > &src) noexcept
	Connect this sink to a source. More...
void	disconnect () noexcept override
	Disconnect from all connected sources and sinks. More...
void	disconnect_from_all_sinks () noexcept
	Disconnect all sources from their sinks. More...
void	disconnect_from_all_sources () noexcept
	Disconnect from all connected sources. More...
virtual void	reset () noexcept
	Reset filter state. More...
template<std::size_t N>
SourceType< N > &	source () noexcept
	Access the source for the Nth data element.
template<std::size_t N>
const SourceType< N > &	source () const noexcept
	Access the source for the Nth data element.

Static Public Attributes
static constexpr std::size_t	NUM_INPUTS
	Number of input arguments.

Protected Member Functions
void	receive (const Inputs &... in) override
	Process incoming data. More...

Detailed Description

template<class... Inputs>
class fkie_message_filters::Divider< Inputs >

Split an N-ary source into N unary ones.

The divider splits an N-ary source into its constituent elements, so they can be processed independently. It is mostly used as the penultimate pipeline filter to forward message tuples to independent Publisher instances.

Technically, the divider acts as one sink and N sources, one for each data type that is passed in. You can connect the sources independently using the source() function.

The divider will always completely separate the input arguments. If you want a partial split only, you should use one or more Selector filters instead.

namespace mf = fkie_message_filters;

using BufferIn = mf::Buffer<M1, M2>;
using MyDivider = mf::Divider<BufferIn::Output>;

BufferIn buf_in;
MyDivider div;
mf::Publisher<M1, mf::RosMessage> pub1;
mf::Publisher<M2, mf::RosMessage> pub2;
mf::chain(buf_in, div);
div.connect_to_sinks(pub1, pub2);

See also

Combiner

Member Typedef Documentation

Input

using fkie_message_filters::Sink< Inputs >::Input = IO<Inputs...>

inherited

Grouped input types.

This type can be used to define sources with matching types.

Member Function Documentation

connect_to_sinks()

template<class... Inputs>

Connections fkie_message_filters::Divider< Inputs >::connect_to_sinks ( Sink< Inputs > &...  sinks )

noexcept

Convenience function to connect all sources at once.

Exceptions

Does not throw any exceptions.

connect_to_source()

Connection fkie_message_filters::Sink< Inputs >::connect_to_source ( Source< Inputs... > &  src )

noexceptinherited

Connect this sink to a source.

Can be called multiple times to connect multiple sources; in that case, the sink receives data from all connected sources. This function does basically the same thing as Source::connect_to_sink(), only from the opposite point of view.

• src the source that is to be connected

Returns

a connection object that can be used to monitor or sever the created connection

Exceptions

Does not throw any exceptions.

disconnect()

template<class... Inputs>

void fkie_message_filters::Divider< Inputs >::disconnect ( )

overridevirtualnoexcept

Disconnect from all connected sources and sinks.

Exceptions

Does not throw any exceptions.

Reimplemented from fkie_message_filters::Sink< Inputs... >.

disconnect_from_all_sinks()

template<class... Inputs>

void fkie_message_filters::Divider< Inputs >::disconnect_from_all_sinks ( )

noexcept

Disconnect all sources from their sinks.

Exceptions

Does not throw any exceptions.

disconnect_from_all_sources()

void fkie_message_filters::Sink< Inputs >::disconnect_from_all_sources ( )

noexceptinherited

Disconnect from all connected sources.

Severs the connection to all sources. The receive() method will not be called any more.

Exceptions

Does not throw any exceptions.

receive()

template<class... Inputs>

void fkie_message_filters::Divider< Inputs >::receive ( const Inputs &...  in )

overrideprotectedvirtual

Process incoming data.

Derived classes need to override this method to handle all data that is to be consumed by the sink.

Exceptions

Depends on the implementation.

Implements fkie_message_filters::Sink< Inputs... >.

reset()

virtual void fkie_message_filters::FilterBase::reset ( )

inlinevirtualnoexceptinherited

Reset filter state.

For stateful filters, this method resets the internal state as if the filter had just been created. Existing connections to sources and sinks are unaffected.

The default implementation does nothing.

Exceptions

Does not throw any exceptions.

Reimplemented in fkie_message_filters::Buffer< Inputs >, fkie_message_filters::Buffer< Inputs... >, fkie_message_filters::TfFilter< Inputs >, fkie_message_filters::TfFilter< Inputs... >, fkie_message_filters::Combiner< PolicyTmpl, IOs >, fkie_message_filters::Sequencer< Inputs >, and fkie_message_filters::Sequencer< Inputs... >.

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

• include/fkie_message_filters/divider.h