frameTransformClient: A client to manage FrameTransforms for a robot (For more information, go to FrameTransform: start all the required devices needed for transforming frames) More...

#include <frameTransformClient/FrameTransformClient.h>

Inheritance diagram for FrameTransformClient:

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)

Public Member Functions inherited from yarp::dev::DeviceDriver
	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...

Public Member Functions inherited from yarp::os::IConfig
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...

Public Member Functions inherited from yarp::dev::IFrameTransform
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...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

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...

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
Public Types inherited from yarp::dev::IFrameTransform
enum	{ TRANSFORM_OK = 0 , TRANSFORM_GENERAL_ERROR = 1 , TRANSFORM_TIMEOUT = 2 }

Protected Member Functions inherited from yarp::os::PeriodicThread
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...

Detailed Description

frameTransformClient: A client to manage FrameTransforms for a robot (For more information, go to FrameTransform: start all the required devices needed for transforming frames)

Description of input parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
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:

yarpdev --device frameTransformClient --filexml_option ftc_local_only.xml

Example of configuration file using .ini format.

device frameTransformClient

filexml_option ftc_local_only.xml

Definition at line 66 of file FrameTransformClient.h.

Member Enumeration Documentation

◆ show_transforms_in_diagram_t

enum FrameTransformClient::show_transforms_in_diagram_t

protected

Enumerator
do_not_show
show_quaternion
show_matrix
show_rpy

Definition at line 98 of file FrameTransformClient.h.

Constructor & Destructor Documentation

◆ FrameTransformClient()

FrameTransformClient::FrameTransformClient ( )

Definition at line 822 of file FrameTransformClient.cpp.

◆ ~FrameTransformClient()

FrameTransformClient::~FrameTransformClient ( )

default

Member Function Documentation

◆ allFramesAsString()

bool FrameTransformClient::allFramesAsString ( std::string & all_frames )

overridevirtual

Creates a debug string containing the list of all registered frames.

Parameters

all_frames the returned string containing the frames

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 397 of file FrameTransformClient.cpp.

◆ canTransform()

bool FrameTransformClient::canTransform	(	const std::string &	target_frame,
		const std::string &	source_frame
	)

overridevirtual

Test if a transform exists.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 474 of file FrameTransformClient.cpp.

◆ clear()

bool FrameTransformClient::clear ( )

overridevirtual

Removes all the registered transforms.

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 479 of file FrameTransformClient.cpp.

◆ close()

bool FrameTransformClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 385 of file FrameTransformClient.cpp.

◆ deleteTransform()

bool FrameTransformClient::deleteTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id
	)

overridevirtual

Deletes a transform between two frames.

Parameters

target_frame_id	the name of target reference frame
source_frame_id	the name of source reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 728 of file FrameTransformClient.cpp.

◆ frameExists()

bool FrameTransformClient::frameExists ( const std::string & frame_id )

overridevirtual

Check if a frame exists.

Parameters

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

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 489 of file FrameTransformClient.cpp.

◆ getAllFrameIds()

bool FrameTransformClient::getAllFrameIds ( std::vector< std::string > & ids )

overridevirtual

Gets a vector containing all the registered frames.

Parameters

ids	the returned vector containing all frame ids

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 509 of file FrameTransformClient.cpp.

◆ getParent()

bool FrameTransformClient::getParent	(	const std::string &	frame_id,
		std::string &	parent_frame_id
	)

overridevirtual

Get the parent of a frame.

Parameters

frame_id	the name of target reference frame
parent_frame_id	the name of parent reference frame

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 546 of file FrameTransformClient.cpp.

◆ getTransform()

bool FrameTransformClient::getTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		yarp::sig::Matrix &	transform
	)

overridevirtual

Get the transform between two frames.

Parameters

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

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 621 of file FrameTransformClient.cpp.

◆ open()

bool FrameTransformClient::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

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).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 296 of file FrameTransformClient.cpp.

◆ priv_generate_view()

bool FrameTransformClient::priv_generate_view ( )

Definition at line 903 of file FrameTransformClient.cpp.

◆ priv_get_matrix_as_text()

std::string FrameTransformClient::priv_get_matrix_as_text ( yarp::math::FrameTransform * t )

Definition at line 868 of file FrameTransformClient.cpp.

◆ read()

bool FrameTransformClient::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 33 of file FrameTransformClient.cpp.

◆ run()

void FrameTransformClient::run ( )

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.

◆ setTransform()

bool FrameTransformClient::setTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Matrix &	transform
	)

overridevirtual

Register a transform between two frames.

Parameters

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

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 656 of file FrameTransformClient.cpp.

◆ setTransformStatic()

bool FrameTransformClient::setTransformStatic	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Matrix &	transform
	)

overridevirtual

Register a static transform between two frames.

Parameters

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

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 694 of file FrameTransformClient.cpp.

◆ threadInit()

bool FrameTransformClient::threadInit ( )

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.

◆ threadRelease()

void FrameTransformClient::threadRelease ( )

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.

◆ transformPoint()

bool FrameTransformClient::transformPoint	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Vector &	input_point,
		yarp::sig::Vector &	transformed_point
	)

overridevirtual

Transform a point into the target frame.

Parameters

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)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 738 of file FrameTransformClient.cpp.

◆ transformPose()

bool FrameTransformClient::transformPose	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::sig::Vector &	input_pose,
		yarp::sig::Vector &	transformed_pose
	)

overridevirtual

Transform a Stamped Pose into the target frame.

Parameters

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)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 758 of file FrameTransformClient.cpp.

◆ transformQuaternion()

bool FrameTransformClient::transformQuaternion	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const yarp::math::Quaternion &	input_quaternion,
		yarp::math::Quaternion &	transformed_quaternion
	)

overridevirtual

Transform a quaternion into the target frame.

Parameters

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)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 792 of file FrameTransformClient.cpp.

◆ waitForTransform()

bool FrameTransformClient::waitForTransform	(	const std::string &	target_frame_id,
		const std::string &	source_frame_id,
		const double &	timeout
	)

overridevirtual

Block until a transform from source_frame_id to target_frame_id is possible or it times out.

Parameters

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)

Returns: true/false

Implements yarp::dev::IFrameTransform.

Definition at line 806 of file FrameTransformClient.cpp.

Member Data Documentation

◆ m_array_of_ports

std::vector<broadcast_port_t*> FrameTransformClient::m_array_of_ports

protected

Definition at line 95 of file FrameTransformClient.h.

◆ m_ift_get

yarp::dev::IFrameTransformStorageGet* FrameTransformClient::m_ift_get = nullptr

protected

Definition at line 109 of file FrameTransformClient.h.

◆ m_ift_set

yarp::dev::IFrameTransformStorageSet* FrameTransformClient::m_ift_set = nullptr

protected

Definition at line 110 of file FrameTransformClient.h.

◆ m_ift_util

yarp::dev::IFrameTransformStorageUtils* FrameTransformClient::m_ift_util = nullptr

protected

Definition at line 111 of file FrameTransformClient.h.

◆ m_local_name

std::string FrameTransformClient::m_local_name

protected

Definition at line 83 of file FrameTransformClient.h.

◆ m_period

double FrameTransformClient::m_period

protected

Definition at line 84 of file FrameTransformClient.h.

◆ m_robot

yarp::robotinterface::Robot FrameTransformClient::m_robot

protected

Definition at line 108 of file FrameTransformClient.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformClient::m_rpc_InterfaceToUser

protected

Definition at line 82 of file FrameTransformClient.h.

◆ m_rpc_mutex

std::mutex FrameTransformClient::m_rpc_mutex

protected

Definition at line 85 of file FrameTransformClient.h.

◆ m_show_transforms_in_diagram

show_transforms_in_diagram_t FrameTransformClient::m_show_transforms_in_diagram = do_not_show

protected

Definition at line 105 of file FrameTransformClient.h.

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

src/devices/frameTransformClient/FrameTransformClient.h
src/devices/frameTransformClient/FrameTransformClient.cpp

Classes

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Member Enumeration Documentation

◆ show_transforms_in_diagram_t

Constructor & Destructor Documentation

◆ FrameTransformClient()

◆ ~FrameTransformClient()

Member Function Documentation

◆ allFramesAsString()

◆ canTransform()

◆ clear()

◆ close()

◆ deleteTransform()

◆ frameExists()

◆ getAllFrameIds()

◆ getParent()

◆ getTransform()

◆ open()

◆ priv_generate_view()

◆ priv_get_matrix_as_text()

◆ read()

◆ run()

◆ setTransform()

◆ setTransformStatic()

◆ threadInit()

◆ threadRelease()

◆ transformPoint()

◆ transformPose()

◆ transformQuaternion()

◆ waitForTransform()

Member Data Documentation

◆ m_array_of_ports

◆ m_ift_get

◆ m_ift_set

◆ m_ift_util

◆ m_local_name

◆ m_period

◆ m_robot

◆ m_rpc_InterfaceToUser

◆ m_rpc_mutex

◆ m_show_transforms_in_diagram