frameTransformClient
: A client to manage FrameTransforms for a robot (For more information, go to FrameTransform: start all the required devices needed for transforming frames)
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#include <frameTransformClient/FrameTransformClient.h>
Classes | |
struct | broadcast_port_t |
Public Member Functions | |
FrameTransformClient () | |
~FrameTransformClient () | |
bool | open (yarp::os::Searchable &config) override |
Open the DeviceDriver. More... | |
bool | close () override |
Close the DeviceDriver. More... | |
bool | read (yarp::os::ConnectionReader &connection) override |
Read this object from a network connection. More... | |
bool | allFramesAsString (std::string &all_frames) override |
Creates a debug string containing the list of all registered frames. More... | |
bool | canTransform (const std::string &target_frame, const std::string &source_frame) override |
Test if a transform exists. More... | |
bool | clear () override |
Removes all the registered transforms. More... | |
bool | frameExists (const std::string &frame_id) override |
Check if a frame exists. More... | |
bool | getAllFrameIds (std::vector< std::string > &ids) override |
Gets a vector containing all the registered frames. More... | |
bool | getParent (const std::string &frame_id, std::string &parent_frame_id) override |
Get the parent of a frame. More... | |
bool | getTransform (const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform) override |
Get the transform between two frames. More... | |
bool | setTransform (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override |
Register a transform between two frames. More... | |
bool | setTransformStatic (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override |
Register a static transform between two frames. More... | |
bool | deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id) override |
Deletes a transform between two frames. More... | |
bool | transformPoint (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_point, yarp::sig::Vector &transformed_point) override |
Transform a point into the target frame. More... | |
bool | transformPose (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose) override |
Transform a Stamped Pose into the target frame. More... | |
bool | transformQuaternion (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::math::Quaternion &input_quaternion, yarp::math::Quaternion &transformed_quaternion) override |
Transform a quaternion into the target frame. More... | |
bool | waitForTransform (const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout) override |
Block until a transform from source_frame_id to target_frame_id is possible or it times out. More... | |
bool | threadInit () override |
Initialization method. More... | |
void | threadRelease () override |
Release method. More... | |
void | run () override |
Loop function. More... | |
bool | priv_generate_view () |
std::string | priv_get_matrix_as_text (yarp::math::FrameTransform *t) |
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DeviceDriver () | |
DeviceDriver (const DeviceDriver &other)=delete | |
DeviceDriver (DeviceDriver &&other) noexcept=delete | |
DeviceDriver & | operator= (const DeviceDriver &other)=delete |
DeviceDriver & | operator= (DeviceDriver &&other) noexcept=delete |
~DeviceDriver () override | |
bool | open (yarp::os::Searchable &config) override |
Open the DeviceDriver. More... | |
bool | close () override |
Close the DeviceDriver. More... | |
virtual std::string | id () const |
Return the id assigned to the PolyDriver. More... | |
virtual void | setId (const std::string &id) |
Set the id for this device. More... | |
template<class T > | |
bool | view (T *&x) |
Get an interface to the device driver. More... | |
virtual DeviceDriver * | getImplementation () |
Some drivers are bureaucrats, pointing at others. More... | |
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virtual | ~IConfig () |
Destructor. More... | |
virtual bool | open (Searchable &config) |
Initialize the object. More... | |
virtual bool | close () |
Shut the object down. More... | |
virtual bool | configure (Searchable &config) |
Change online parameters. More... | |
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virtual | ~IFrameTransform () |
Destructor. More... | |
virtual bool | allFramesAsString (std::string &all_frames)=0 |
Creates a debug string containing the list of all registered frames. More... | |
virtual bool | canTransform (const std::string &target_frame, const std::string &source_frame)=0 |
Test if a transform exists. More... | |
virtual bool | clear ()=0 |
Removes all the registered transforms. More... | |
virtual bool | frameExists (const std::string &frame_id)=0 |
Check if a frame exists. More... | |
virtual bool | getAllFrameIds (std::vector< std::string > &ids)=0 |
Gets a vector containing all the registered frames. More... | |
virtual bool | getParent (const std::string &frame_id, std::string &parent_frame_id)=0 |
Get the parent of a frame. More... | |
virtual bool | getTransform (const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform)=0 |
Get the transform between two frames. More... | |
virtual bool | setTransform (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform)=0 |
Register a transform between two frames. More... | |
virtual bool | setTransformStatic (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform)=0 |
Register a static transform between two frames. More... | |
virtual bool | deleteTransform (const std::string &target_frame_id, const std::string &source_frame_id)=0 |
Deletes a transform between two frames. More... | |
virtual bool | transformPoint (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_point, yarp::sig::Vector &transformed_point)=0 |
Transform a point into the target frame. More... | |
virtual bool | transformPose (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose)=0 |
Transform a Stamped Pose into the target frame. More... | |
virtual bool | transformQuaternion (const std::string &target_frame_id, const std::string &source_frame_id, const yarp::math::Quaternion &input_quaternion, yarp::math::Quaternion &transformed_quaternion)=0 |
Transform a quaternion into the target frame. More... | |
virtual bool | waitForTransform (const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout)=0 |
Block until a transform from source_frame_id to target_frame_id is possible or it times out. More... | |
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virtual | ~PortReader () |
Destructor. More... | |
virtual bool | read (ConnectionReader &reader)=0 |
Read this object from a network connection. More... | |
virtual Type | getReadType () const |
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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... | |
Protected Types | |
enum | show_transforms_in_diagram_t { do_not_show = 0 , show_quaternion = 1 , show_matrix = 2 , show_rpy = 3 } |
Protected Attributes | |
yarp::os::Port | m_rpc_InterfaceToUser |
std::string | m_local_name |
double | m_period |
std::mutex | m_rpc_mutex |
std::vector< broadcast_port_t * > | m_array_of_ports |
show_transforms_in_diagram_t | m_show_transforms_in_diagram = do_not_show |
yarp::robotinterface::Robot | m_robot |
yarp::dev::IFrameTransformStorageGet * | m_ift_get = nullptr |
yarp::dev::IFrameTransformStorageSet * | m_ift_set = nullptr |
yarp::dev::IFrameTransformStorageUtils * | m_ift_util = nullptr |
Additional Inherited Members | |
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enum | { TRANSFORM_OK = 0 , TRANSFORM_GENERAL_ERROR = 1 , TRANSFORM_TIMEOUT = 2 } |
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virtual bool | threadInit () |
Initialization method. More... | |
virtual void | threadRelease () |
Release method. More... | |
virtual void | run ()=0 |
Loop function. 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... | |
frameTransformClient
: A client to manage FrameTransforms for a robot (For more information, go to 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 |
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filexml_option | - | string | - | ftc_local_only.xml | no | The name of the xml file containing the needed client configuration |
testxml_option | - | string | - | - | no | NB: FOR TEST ONLY. The absolute path of the xml file containing the configuration to test |
period | - | float | - | 10ms | no | The period for publishing individual tfs on port |
ft_client_prefix | - | string | - | "" | no | A prefix to add to the names of all the ports opened by the NWCs instantiated by the frameTransformClient |
ft_server_prefix | - | string | - | "" | no | The prefix added to all the names of the ports opened by the NWSs instantiated by the frameTransformServer |
Example of command line:
Example of configuration file using .ini format.
Definition at line 66 of file FrameTransformClient.h.
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Enumerator | |
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do_not_show | |
show_quaternion | |
show_matrix | |
show_rpy |
Definition at line 98 of file FrameTransformClient.h.
FrameTransformClient::FrameTransformClient | ( | ) |
Definition at line 822 of file FrameTransformClient.cpp.
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overridevirtual |
Creates a debug string containing the list of all registered frames.
all_frames | the returned string containing the frames |
Implements yarp::dev::IFrameTransform.
Definition at line 397 of file FrameTransformClient.cpp.
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overridevirtual |
Test if a transform exists.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
Implements yarp::dev::IFrameTransform.
Definition at line 474 of file FrameTransformClient.cpp.
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overridevirtual |
Removes all the registered transforms.
Implements yarp::dev::IFrameTransform.
Definition at line 479 of file FrameTransformClient.cpp.
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 385 of file FrameTransformClient.cpp.
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overridevirtual |
Deletes a transform between two frames.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
Implements yarp::dev::IFrameTransform.
Definition at line 728 of file FrameTransformClient.cpp.
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overridevirtual |
Check if a frame exists.
frame_id | the frame to be searched |
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
Implements yarp::dev::IFrameTransform.
Definition at line 489 of file FrameTransformClient.cpp.
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overridevirtual |
Gets a vector containing all the registered frames.
ids | the returned vector containing all frame ids |
Implements yarp::dev::IFrameTransform.
Definition at line 509 of file FrameTransformClient.cpp.
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overridevirtual |
Get the parent of a frame.
frame_id | the name of target reference frame |
parent_frame_id | the name of parent reference frame |
Implements yarp::dev::IFrameTransform.
Definition at line 546 of file FrameTransformClient.cpp.
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overridevirtual |
Get the transform between two frames.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
transform | the transformation matrix from source_frame_id to target_frame_id |
Implements yarp::dev::IFrameTransform.
Definition at line 621 of file FrameTransformClient.cpp.
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overridevirtual |
Open the DeviceDriver.
config | is 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). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 296 of file FrameTransformClient.cpp.
bool FrameTransformClient::priv_generate_view | ( | ) |
Definition at line 903 of file FrameTransformClient.cpp.
std::string FrameTransformClient::priv_get_matrix_as_text | ( | yarp::math::FrameTransform * | t | ) |
Definition at line 868 of file FrameTransformClient.cpp.
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overridevirtual |
Read this object from a network connection.
Override this for your particular class.
reader | an interface to the network connection for reading |
Implements yarp::os::PortReader.
Definition at line 33 of file FrameTransformClient.cpp.
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overridevirtual |
Loop function.
This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.
Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.
Implements yarp::os::PeriodicThread.
Definition at line 840 of file FrameTransformClient.cpp.
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overridevirtual |
Register a transform between two frames.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
transform | the transformation matrix from source_frame_id to target_frame_id |
Implements yarp::dev::IFrameTransform.
Definition at line 656 of file FrameTransformClient.cpp.
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overridevirtual |
Register a static transform between two frames.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
transform | the transformation matrix from source_frame_id to target_frame_id |
Implements yarp::dev::IFrameTransform.
Definition at line 694 of file FrameTransformClient.cpp.
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overridevirtual |
Initialization method.
The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.
Reimplemented from yarp::os::PeriodicThread.
Definition at line 829 of file FrameTransformClient.cpp.
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overridevirtual |
Release method.
The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).
Reimplemented from yarp::os::PeriodicThread.
Definition at line 835 of file FrameTransformClient.cpp.
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overridevirtual |
Transform a point into the target frame.
target_frame_id | the name of target reference frame |
source_frame_id | the name of frame in which input_point is expressed |
input_point | the input point (x y z) |
transformed_point | the returned point (x y z) |
Implements yarp::dev::IFrameTransform.
Definition at line 738 of file FrameTransformClient.cpp.
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overridevirtual |
Transform a Stamped Pose into the target frame.
target_frame_id | the name of target reference frame |
source_frame_id | the name of frame in which input_pose is expressed |
input_pose | the input quaternion (x y z r p y) |
transformed_pose | the returned (x y z r p y) |
Implements yarp::dev::IFrameTransform.
Definition at line 758 of file FrameTransformClient.cpp.
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overridevirtual |
Transform a quaternion into the target frame.
target_frame_id | the name of target reference frame |
source_frame_id | the name of frame in which input_quaternion is expressed |
input_quaternion | the input quaternion (x y z w) |
transformed_quaternion | the returned quaternion (x y z w) |
Implements yarp::dev::IFrameTransform.
Definition at line 792 of file FrameTransformClient.cpp.
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overridevirtual |
Block until a transform from source_frame_id to target_frame_id is possible or it times out.
target_frame_id | the name of target reference frame |
source_frame_id | the name of source reference frame |
timeout | (in seconds) to wait for |
error_msg | string filled with error message (if error occurred) |
Implements yarp::dev::IFrameTransform.
Definition at line 806 of file FrameTransformClient.cpp.
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Definition at line 95 of file FrameTransformClient.h.
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Definition at line 109 of file FrameTransformClient.h.
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Definition at line 110 of file FrameTransformClient.h.
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Definition at line 111 of file FrameTransformClient.h.
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Definition at line 83 of file FrameTransformClient.h.
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Definition at line 84 of file FrameTransformClient.h.
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Definition at line 108 of file FrameTransformClient.h.
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Definition at line 82 of file FrameTransformClient.h.
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Definition at line 85 of file FrameTransformClient.h.
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Definition at line 105 of file FrameTransformClient.h.