upkie::cpp::observers::ObserverPipeline Class Reference

Observer pipeline. More...

#include <ObserverPipeline.h>

Public Member Functions
void	reset (const Dictionary &config)
	Reset observers. More...
void	connect_sensor (std::shared_ptr< Sensor > sensor)
	Add a sensor at the beginning of the pipeline. More...
void	append_observer (std::shared_ptr< Observer > observer)
	Append an observer at the end of the pipeline. More...
std::vector< std::shared_ptr< Sensor > > &	sensors ()
	Sensors of the pipeline.
size_t	nb_sensors ()
	Number of sensors in the pipeline.
std::vector< std::shared_ptr< Observer > > &	observers ()
	Observers of the pipeline. Order matters.
size_t	nb_observers ()
	Number of observers in the pipeline.
void	run (Dictionary &observation)
	Run observer pipeline on an observation dictionary. More...

Detailed Description

Observer pipeline.

An observer pipeline is a list of sensors and observers, to be executed in that order. Observers further down the pipeline may depend on the results of those that precede them, which are written to the observation dictionary. The pipeline is thus assumed to be topologically sorted.

Member Function Documentation

append_observer()

void upkie::cpp::observers::ObserverPipeline::append_observer ( std::shared_ptr< Observer >  observer )

inline

Append an observer at the end of the pipeline.

Parameters

observer

Observer to append.

connect_sensor()

void upkie::cpp::observers::ObserverPipeline::connect_sensor ( std::shared_ptr< Sensor >  sensor )

inline

Add a sensor at the beginning of the pipeline.

Parameters

[in]

sensor

Sensor to append.

Note

Contrary to observers, the order in which sensors are executed is not guaranteed. If a sensor needs to run after another, consider splitting it into one sensor and one observer.

reset()

void upkie::cpp::observers::ObserverPipeline::reset

(

const Dictionary &

config

)

Reset observers.

Parameters

[in]

config

Overall configuration dictionary.

run()

void upkie::cpp::observers::ObserverPipeline::run

(

Dictionary &

observation

)

Run observer pipeline on an observation dictionary.

Parameters

[in,out]

observation

Observation dictionary.

---

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

• upkie/cpp/observers/ObserverPipeline.h
• upkie/cpp/observers/ObserverPipeline.cpp