dynamicgraph::sot::Event Class Reference

#include <sot/core/event.hh>

Inheritance diagram for dynamicgraph::sot::Event:

Detailed Description

Event

This entity detects changes in value of an input boolean signal

Input signal is

• condition (boolean), Output signal is
• check output value is true if value of input signal changes with respect to the evaluation.

Method addSignal stores signals that are recomputed each time the output signal is recomputed and the value is true. One typical use case of this feature consists in plugging the output signal to a ROS topic using dynamicgraph::RosPublish entity (see dynamic_graph_bridge) and to call addSignal with the trigger signal of the RosPublish entity as the input. Thus each time the output signal changes value, the new value is published to the ROS topic.

If command setOnlyUp is called with true as input, signals are recomputed only if the output value switches from false to true.

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

• include/sot/core/event.hh