ROS源码学习 十、NameResolver

2021SC@SDUSC

目录

一、写在前面

二、NameResolver

三、NodeNameResolver

三、总结

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一、写在前面

        上篇分析讲解了ROS节点的命名格式与一些对于名称的操作,本节紧接上篇分析对NameResolver进行学习.上一节中的GraphName仅仅代表了一个节点的命名对象,但没有搜索特定名称对象的能力,这样的功能在本节将要分析的NameResolver类与NodeNameResolver类中.

二、NameResolver

        

public class NameResolver {

  private final GraphName namespace;
  private final Map<GraphName, GraphName> remappings;
  public NameResolver(GraphName namespace, Map<GraphName, GraphName> remappings) {
    this.remappings = Collections.unmodifiableMap(remappings);
    this.namespace = namespace;
  }
    
 public static NameResolver newFromNamespace(GraphName namespace) {
    return new NameResolver(namespace, new HashMap<GraphName, GraphName>());
  }

  public static NameResolver newFromNamespace(String namespace) {
    return newFromNamespace(GraphName.of(namespace));
  }

  public static NameResolver newRoot() {
    return newFromNamespace(GraphName.root());
  }

  public static NameResolver newRootFromRemappings(Map<GraphName, GraphName> remappings) {
    return new NameResolver(GraphName.root(), remappings);
  }

  public static NameResolver newFromNamespaceAndRemappings(String namespace,
      Map<GraphName, GraphName> remappings) {
    return new NameResolver(GraphName.of(namespace), remappings);
  }

        上述代码为NameResolver的成员变量、构造方法与静态工厂函