YARP
Yet Another Robot Platform

frameTransformGet_nwc_yarp: A network wrapper client which converts the input retrieved from a FrameTransformStorageGetRPC thrift interface to an IFrameTransformStorageGet interface. More...

#include <frameTransformGet/FrameTransformGet_nwc_yarp.h>

+ Inheritance diagram for FrameTransformGet_nwc_yarp:

Public Member Functions

 FrameTransformGet_nwc_yarp ()=default
 
 FrameTransformGet_nwc_yarp (const FrameTransformGet_nwc_yarp &)=delete
 
 FrameTransformGet_nwc_yarp (FrameTransformGet_nwc_yarp &&)=delete
 
FrameTransformGet_nwc_yarpoperator= (const FrameTransformGet_nwc_yarp &)=delete
 
FrameTransformGet_nwc_yarpoperator= (FrameTransformGet_nwc_yarp &&)=delete
 
 ~FrameTransformGet_nwc_yarp () override=default
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
 Obtains all frame transforms saved in a storage. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::dev::IFrameTransformStorageGet
virtual ~IFrameTransformStorageGet ()
 

Public Attributes

bool m_streaming_port_enabled = false
 
std::string m_streaming_port_name { "/frameTransformGet/tf:i" }
 
DataReader * m_dataReader =nullptr
 

Detailed Description

frameTransformGet_nwc_yarp: A network wrapper client which converts the input retrieved from a FrameTransformStorageGetRPC thrift interface to an IFrameTransformStorageGet interface.

Parameters

This device is paired with its server called FrameTransformGet_nws_yarp. It is attached to a device with an IFrameTransformStorageGet interface. When it a method of the interface is called, the request is forwarded on a RPC port (which uses the thrift FrameTransformStorageGetRPC interface) and it returns all the transforms received from the port to the caller. For further information see FrameTransform: start all the required devices needed for transforming frames.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description
rpc_port_client - string - /frameTransformGet/clientRPC No name of the port on which rpc calls should be made
rpc_port_server - string - /frameTransformGet/serverRPC No name of the port on which rpc calls should be made
streaming_port_client - string - /frameTransformGet/tf:i No name of the port on which the tfs are received (if the port is enabled)
streaming_enabled - bool - false No if enabled, tfs are received from the streaming port instead of using RPCs

Example of configuration file using .ini format.

device FrameTransformGet_nwc_yarp
rpc_port_client /frameTransformGet/clientRPC
rpc_port_server /frameTransformGet/clientRPC

Definition at line 45 of file FrameTransformGet_nwc_yarp.h.

Constructor & Destructor Documentation

◆ FrameTransformGet_nwc_yarp() [1/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( )
default

◆ FrameTransformGet_nwc_yarp() [2/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( const FrameTransformGet_nwc_yarp )
delete

◆ FrameTransformGet_nwc_yarp() [3/3]

FrameTransformGet_nwc_yarp::FrameTransformGet_nwc_yarp ( FrameTransformGet_nwc_yarp &&  )
delete

◆ ~FrameTransformGet_nwc_yarp()

FrameTransformGet_nwc_yarp::~FrameTransformGet_nwc_yarp ( )
overridedefault

Member Function Documentation

◆ close()

bool FrameTransformGet_nwc_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 70 of file FrameTransformGet_nwc_yarp.cpp.

◆ getTransforms()

bool FrameTransformGet_nwc_yarp::getTransforms ( std::vector< yarp::math::FrameTransform > &  transforms) const
overridevirtual

Obtains all frame transforms saved in a storage.

Parameters
transformsthe returned list of frame transforms
Returns
true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 82 of file FrameTransformGet_nwc_yarp.cpp.

◆ open()

bool FrameTransformGet_nwc_yarp::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 14 of file FrameTransformGet_nwc_yarp.cpp.

◆ operator=() [1/2]

FrameTransformGet_nwc_yarp& FrameTransformGet_nwc_yarp::operator= ( const FrameTransformGet_nwc_yarp )
delete

◆ operator=() [2/2]

FrameTransformGet_nwc_yarp& FrameTransformGet_nwc_yarp::operator= ( FrameTransformGet_nwc_yarp &&  )
delete

Member Data Documentation

◆ m_dataReader

DataReader* FrameTransformGet_nwc_yarp::m_dataReader =nullptr

Definition at line 77 of file FrameTransformGet_nwc_yarp.h.

◆ m_streaming_port_enabled

bool FrameTransformGet_nwc_yarp::m_streaming_port_enabled = false

Definition at line 75 of file FrameTransformGet_nwc_yarp.h.

◆ m_streaming_port_name

std::string FrameTransformGet_nwc_yarp::m_streaming_port_name { "/frameTransformGet/tf:i" }

Definition at line 76 of file FrameTransformGet_nwc_yarp.h.


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