YARP
Yet Another Robot Platform

frameTransformStorage: A class that keeps a FrameTransformContainer updated by receiving transformations through the yarp::dev::IFrameTransformStorageSet interface and periodically querying a set of attached devices that expose the yarp::dev::IFrameTransformStorageGet interface. More...

#include <frameTransformStorage/FrameTransformStorage.h>

+ Inheritance diagram for FrameTransformStorage:

Public Member Functions

 FrameTransformStorage (double tperiod=0.010)
 
 ~FrameTransformStorage ()
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool setTransforms (const std::vector< yarp::math::FrameTransform > &transforms) override
 Save some frame transforms in a storage. More...
 
bool setTransform (const yarp::math::FrameTransform &transform) override
 Save a frame transform in a storage. More...
 
bool getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
 Obtains all frame transforms saved in a storage. More...
 
bool deleteTransform (std::string t1, std::string t2) override
 Delete a single transform in the storage. More...
 
bool size (size_t &size) const override
 
bool clearAll () override
 Delete all transforms in a storage. More...
 
bool getInternalContainer (FrameTransformContainer *&container) override
 
bool attach (yarp::dev::PolyDriver *driver) override
 Attach to another object. More...
 
bool detach () override
 Detach the object (you must have first called attach). 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::IFrameTransformStorageSet
virtual ~IFrameTransformStorageSet ()
 
- Public Member Functions inherited from yarp::dev::IFrameTransformStorageGet
virtual ~IFrameTransformStorageGet ()
 
- Public Member Functions inherited from yarp::dev::IFrameTransformStorageUtils
virtual ~IFrameTransformStorageUtils ()
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::WrapperSingle
 ~WrapperSingle () override
 Destructor. More...
 
bool attachAll (const yarp::dev::PolyDriverList &drivers) final
 Attach to a list of objects. More...
 
bool detachAll () final
 Detach the object (you must have first called attach). More...
 
- Public Member Functions inherited from yarp::dev::IWrapper
virtual ~IWrapper ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 

Protected Attributes

FrameTransformContainer m_tf_container
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization method. More...
 
virtual void threadRelease ()
 Release method. More...
 
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 

Detailed Description

frameTransformStorage: A class that keeps a FrameTransformContainer updated by receiving transformations through the yarp::dev::IFrameTransformStorageSet interface and periodically querying a set of attached devices that expose the yarp::dev::IFrameTransformStorageGet interface.

It also exposes the yarp::dev::IFrameTransformStorageGet interface to allow stored transformations retrieval

Definition at line 33 of file FrameTransformStorage.h.

Constructor & Destructor Documentation

◆ FrameTransformStorage()

FrameTransformStorage::FrameTransformStorage ( double  tperiod = 0.010)
inline

Definition at line 45 of file FrameTransformStorage.h.

◆ ~FrameTransformStorage()

FrameTransformStorage::~FrameTransformStorage ( )
inline

Definition at line 46 of file FrameTransformStorage.h.

Member Function Documentation

◆ attach()

bool FrameTransformStorage::attach ( yarp::dev::PolyDriver driver)
overridevirtual

Attach to another object.

Parameters
driverthe polydriver that you want to attach to.
Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 82 of file FrameTransformStorage.cpp.

◆ clearAll()

bool FrameTransformStorage::clearAll ( )
overridevirtual

Delete all transforms in a storage.

Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 97 of file FrameTransformStorage.cpp.

◆ close()

bool FrameTransformStorage::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 34 of file FrameTransformStorage.cpp.

◆ deleteTransform()

bool FrameTransformStorage::deleteTransform ( std::string  src,
std::string  dst 
)
overridevirtual

Delete a single transform in the storage.

Parameters
srcthe source of frame transform to delete
dstthe destination of frame transform to delete
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 54 of file FrameTransformStorage.cpp.

◆ detach()

bool FrameTransformStorage::detach ( )
overridevirtual

Detach the object (you must have first called attach).

Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 74 of file FrameTransformStorage.cpp.

◆ getInternalContainer()

bool FrameTransformStorage::getInternalContainer ( FrameTransformContainer *&  container)
overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 22 of file FrameTransformStorage.cpp.

◆ getTransforms()

bool FrameTransformStorage::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 39 of file FrameTransformStorage.cpp.

◆ open()

bool FrameTransformStorage::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 28 of file FrameTransformStorage.cpp.

◆ setTransform()

bool FrameTransformStorage::setTransform ( const yarp::math::FrameTransform transform)
overridevirtual

Save a frame transform in a storage.

Parameters
transformsthe transform to be stored
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 49 of file FrameTransformStorage.cpp.

◆ setTransforms()

bool FrameTransformStorage::setTransforms ( const std::vector< yarp::math::FrameTransform > &  transforms)
overridevirtual

Save some frame transforms in a storage.

Parameters
transformsthe list of transforms to be stored
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 44 of file FrameTransformStorage.cpp.

◆ size()

bool FrameTransformStorage::size ( size_t size) const
overridevirtual

Implements yarp::dev::IFrameTransformStorageUtils.

Definition at line 102 of file FrameTransformStorage.cpp.

Member Data Documentation

◆ m_tf_container

FrameTransformContainer FrameTransformStorage::m_tf_container
protected

Definition at line 42 of file FrameTransformStorage.h.


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