Part V: Developing and Testing the ROS Message Endpoint [Author’s note, July 28, 2010: Introduced Boost::shared_ptr to manage reference to message endpoint so as to enable postponed construction, as will be required in Part VI.] While this series (Part I, II, III, IV) has been specifically written to address writing well-designed packages for ROS, we’ve […]
Part IV: Developing and Testing the Application Services [Author’s note, July 28, 2010: Introduced Boost::shared_ptr to manage reference to message endpoint so as to enable postponed construction, as will be required in Part VI.] Ah, we’ve made it to the application services layer. After defining the architecture, setting up the package, and implementing the core […]
Part III: Developing and Testing the Domain Layer [Author’s note, July 28, 2010: Fixed minor bug in LaserScanReader.cpp wherein it couldn’t be restarted after being stopped; had to reset _stopRequested to false.] In Part II of this series, we created the humble beginnings of the package and added folders to accommodate all of the layers […]
The pImpl Idiom is a useful technique for hiding implementation details of C++ classes away from being exposed in the header file. A couple of the primary benefits include decoupling of the implementation from the interface of the object (as declared in the header) and reduced compilation time if only the pImpl class is modified. As […]
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