frameTransformGet_nwc_ros: A ros network wrapper client that receives frame transforms from a ros topic and makes them available through an IFrameTransformStorageGet interface. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros/src/devices/frameTransformGet_nwc_ros/FrameTransformGet_nwc_ros.h>

Inheritance diagram for FrameTransformGet_nwc_ros:

Public Member Functions
	FrameTransformGet_nwc_ros (double tperiod=0.010)

	~FrameTransformGet_nwc_ros ()=default

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

void	run () override
	Loop function.

bool	getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
	Obtains all frame transforms saved in a storage.

void	receiveFrameTransforms ()

void	rosTransformToYARPTransform (const yarp::rosmsg::geometry_msgs::TransformStamped &input, yarp::math::FrameTransform &output, bool isStatic)

double	yarpStampFromROS (const yarp::rosmsg::TickTime &rosTime)

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

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::IFrameTransformStorageGet
virtual	~IFrameTransformStorageGet ()

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

virtual void	beforeStart ()
	Called just before a new thread starts.

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().

Detailed Description

frameTransformGet_nwc_ros: A ros network wrapper client that receives frame transforms from a ros topic and makes them available through an IFrameTransformStorageGet interface.

See FrameTransform: start all the required devices needed for transforming frames for additional info.

Parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description ----—
GENERAL	-	group	-	-	No
-	period	double	seconds	0.01	No	The PeriodicThread period in seconds
-	refresh_interval	double	seconds	0.1	No	The time interval outside which timed ft will be deleted
ROS	-	group	-	-	No
-	ft_topic	string	-	/tf	No	The name of the ROS topic from which fts will be received
-	ft_topic_static	string	-	/tf_static	No	The name of the ROS topic from which static fts will be received
-	ft_node	string	-	/tfNodeGet	No	The of the ROS node

N.B. pay attention to the difference between tf and ft

Example of configuration file using .ini format.

device frameTransformGet_nwc_yarp
[GENERAL]
period 0.05
refresh_interval 0.2
[ROS]
ft_topic /tf
ft_topic_static /tf_static
ft_node /tfNodeGet

Definition at line 68 of file FrameTransformGet_nwc_ros.h.

Constructor & Destructor Documentation

◆ FrameTransformGet_nwc_ros()

FrameTransformGet_nwc_ros::FrameTransformGet_nwc_ros ( double tperiod = 0.010 )

Definition at line 22 of file FrameTransformGet_nwc_ros.cpp.

◆ ~FrameTransformGet_nwc_ros()

FrameTransformGet_nwc_ros::~FrameTransformGet_nwc_ros ( )

default

Member Function Documentation

◆ close()

bool FrameTransformGet_nwc_ros::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 93 of file FrameTransformGet_nwc_ros.cpp.

◆ getTransforms()

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

overridevirtual

Obtains all frame transforms saved in a storage.

Parameters

transforms the returned list of frame transforms

Returns: true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 117 of file FrameTransformGet_nwc_ros.cpp.

◆ open()

bool FrameTransformGet_nwc_ros::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 28 of file FrameTransformGet_nwc_ros.cpp.

◆ receiveFrameTransforms()

void FrameTransformGet_nwc_ros::receiveFrameTransforms ( )

Definition at line 160 of file FrameTransformGet_nwc_ros.cpp.

◆ rosTransformToYARPTransform()

void FrameTransformGet_nwc_ros::rosTransformToYARPTransform	(	const yarp::rosmsg::geometry_msgs::TransformStamped &	input,
		yarp::math::FrameTransform &	output,
		bool	isStatic
	)

Definition at line 145 of file FrameTransformGet_nwc_ros.cpp.

◆ run()

void FrameTransformGet_nwc_ros::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 106 of file FrameTransformGet_nwc_ros.cpp.

◆ yarpStampFromROS()

double FrameTransformGet_nwc_ros::yarpStampFromROS ( const yarp::rosmsg::TickTime & rosTime )

Definition at line 133 of file FrameTransformGet_nwc_ros.cpp.

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

opt-modules/yarp-devices-ros/src/devices/frameTransformGet_nwc_ros/FrameTransformGet_nwc_ros.h
opt-modules/yarp-devices-ros/src/devices/frameTransformGet_nwc_ros/FrameTransformGet_nwc_ros.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Parameters

Example of configuration file using .ini format.

Constructor & Destructor Documentation

◆ FrameTransformGet_nwc_ros()

◆ ~FrameTransformGet_nwc_ros()

Member Function Documentation

◆ close()

◆ getTransforms()

◆ open()

◆ receiveFrameTransforms()

◆ rosTransformToYARPTransform()

◆ run()

◆ yarpStampFromROS()