Class Diagrams

The following class diagram of the soar_ros::Service class (inheritance diagram) provides a basic overview of the library architecture.

All ROS wrapper classes adjusted for usage with Soar are based on the input or output base classes as well as the shared interface.

template<typename T, typename pRequestType = typename T::Request::SharedPtr, typename pResponseType = typename T::Response::SharedPtr>
class Service : public virtual soar_ros::Input<typename T::Request::SharedPtr>, public virtual soar_ros::Output<typename T::Response::SharedPtr>, public soar_ros::Interface

Inheritance diagram for soar_ros::Service:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "3" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "5" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "1" [label="soar_ros::Service< T, pRequestType, pResponseType >" tooltip="soar_ros::Service< T, pRequestType, pResponseType >" fillcolor="#BFBFBF"] "6" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "4" [label="soar_ros::Output< typename T::Response::SharedPtr >" tooltip="soar_ros::Output< typename T::Response::SharedPtr >"] "2" [label="soar_ros::Input< typename T::Request::SharedPtr >" tooltip="soar_ros::Input< typename T::Request::SharedPtr >"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "6" [dir=forward tooltip="public-inheritance"] "4" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for soar_ros::Service:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "3" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "5" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "9" [label="rclcpp::Logger" tooltip="rclcpp::Logger"] "1" [label="soar_ros::Service< T, pRequestType, pResponseType >" tooltip="soar_ros::Service< T, pRequestType, pResponseType >" fillcolor="#BFBFBF"] "7" [label="rclcpp::Service< T >" tooltip="rclcpp::Service< T >"] "6" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "8" [label="rclcpp::ServiceBase" tooltip="rclcpp::ServiceBase"] "4" [label="soar_ros::Output< typename T::Response::SharedPtr >" tooltip="soar_ros::Output< typename T::Response::SharedPtr >"] "2" [label="soar_ros::Input< typename T::Request::SharedPtr >" tooltip="soar_ros::Input< typename T::Request::SharedPtr >"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "6" [dir=forward tooltip="public-inheritance"] "1" -> "7" [dir=forward tooltip="usage"] "7" -> "8" [dir=forward tooltip="public-inheritance"] "8" -> "9" [dir=forward tooltip="usage"] "4" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

The difference between service and client from the libraries perspective is only the reversal of output and input calls.

template<typename T, typename pRequestType = typename T::Request::SharedPtr, typename pResponseType = typename T::Response::SharedPtr>
class Client : public virtual soar_ros::Output<typename T::Request::SharedPtr>, public virtual soar_ros::Input<typename T::Response::SharedPtr>, public soar_ros::Interface

Inheritance diagram for soar_ros::Client:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "4" [label="soar_ros::Input< typename T::Response::SharedPtr >" tooltip="soar_ros::Input< typename T::Response::SharedPtr >"] "3" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "2" [label="soar_ros::Output< typename T::Request::SharedPtr >" tooltip="soar_ros::Output< typename T::Request::SharedPtr >"] "6" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "1" [label="soar_ros::Client< T, pRequestType, pResponseType >" tooltip="soar_ros::Client< T, pRequestType, pResponseType >" fillcolor="#BFBFBF"] "4" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "6" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for soar_ros::Client:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "7" [label="rclcpp::Client< T >" tooltip="rclcpp::Client< T >"] "5" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "4" [label="soar_ros::Input< typename T::Response::SharedPtr >" tooltip="soar_ros::Input< typename T::Response::SharedPtr >"] "3" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "9" [label="rclcpp::Logger" tooltip="rclcpp::Logger"] "2" [label="soar_ros::Output< typename T::Request::SharedPtr >" tooltip="soar_ros::Output< typename T::Request::SharedPtr >"] "6" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "8" [label="rclcpp::ClientBase" tooltip="rclcpp::ClientBase"] "1" [label="soar_ros::Client< T, pRequestType, pResponseType >" tooltip="soar_ros::Client< T, pRequestType, pResponseType >" fillcolor="#BFBFBF"] "7" -> "8" [dir=forward tooltip="public-inheritance"] "4" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "8" -> "9" [dir=forward tooltip="usage"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "6" [dir=forward tooltip="public-inheritance"] "1" -> "7" [dir=forward tooltip="usage"] }

Publisher and subscriber only have either the input or the output functionality:

template<typename T>
class Publisher : public soar_ros::Output<T>, public soar_ros::Interface

Inheritance diagram for soar_ros::Publisher:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "2" [label="soar_ros::Output< T >" tooltip="soar_ros::Output< T >"] "3" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "4" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "1" [label="soar_ros::Publisher< T >" tooltip="soar_ros::Publisher< T >" fillcolor="#BFBFBF"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for soar_ros::Publisher:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "2" [label="soar_ros::Output< T >" tooltip="soar_ros::Output< T >"] "5" [label="rclcpp::Publisher< T >" tooltip="rclcpp::Publisher< T >"] "3" [label="soar_ros::OutputBase" tooltip="soar_ros::OutputBase"] "6" [label="rclcpp::PublisherBase" tooltip="rclcpp::PublisherBase"] "4" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "1" [label="soar_ros::Publisher< T >" tooltip="soar_ros::Publisher< T >" fillcolor="#BFBFBF"] "7" [label="rclcpp::PublisherEventCallbacks" tooltip="rclcpp::PublisherEventCallbacks"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "5" -> "6" [dir=forward tooltip="public-inheritance"] "6" -> "7" [dir=forward tooltip="usage"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="usage"] }
template<typename T>
class Subscriber : public soar_ros::Input<T>, public soar_ros::Interface

Inheritance diagram for soar_ros::Subscriber:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "1" [label="soar_ros::Subscriber< T >" tooltip="soar_ros::Subscriber< T >" fillcolor="#BFBFBF"] "2" [label="soar_ros::Input< T >" tooltip="soar_ros::Input< T >"] "3" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "4" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for soar_ros::Subscriber:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="rclcpp::Subscription< T >" tooltip="rclcpp::Subscription< T >"] "1" [label="soar_ros::Subscriber< T >" tooltip="soar_ros::Subscriber< T >" fillcolor="#BFBFBF"] "8" [label="rclcpp::SubscriptionEventCallbacks" tooltip="rclcpp::SubscriptionEventCallbacks"] "2" [label="soar_ros::Input< T >" tooltip="soar_ros::Input< T >"] "3" [label="soar_ros::InputBase" tooltip="soar_ros::InputBase"] "6" [label="rclcpp::SubscriptionBase" tooltip="rclcpp::SubscriptionBase"] "9" [label="rclcpp::Logger" tooltip="rclcpp::Logger"] "4" [label="soar_ros::Interface" tooltip="soar_ros::Interface"] "7" [label="rclcpp::node_interfaces::NodeBaseInterface" tooltip="rclcpp::node_interfaces::NodeBaseInterface"] "5" -> "6" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="usage"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "6" -> "7" [dir=forward tooltip="usage"] "6" -> "8" [dir=forward tooltip="usage"] "6" -> "9" [dir=forward tooltip="usage"] }