FrameTransformGet_nwc_yarp Class Reference

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_yarp &	operator= (const FrameTransformGet_nwc_yarp &)=delete
FrameTransformGet_nwc_yarp &	operator= (FrameTransformGet_nwc_yarp &&)=delete
	~FrameTransformGet_nwc_yarp () override=default
bool	open (yarp::os::Searchable &params) override
	Open the DeviceDriver.
bool	close () override
	Close the DeviceDriver.
bool	getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
	Obtains all frame transforms saved in a storage.
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::dev::IFrameTransformStorageGet
virtual	~IFrameTransformStorageGet ()

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
default-client	-	bool	-	true	No	tells whether or not the nwc is instantiated by the frameTransformClient device. If true, "/frameTransformClient" will appended to the port name prefix
default-server	-	bool	-	true	No	tells whether or not the nws is instantiated by the frameTransformServer device. If true, "/frameTransformServer/frameTransformGet_nws_yarp" will appended to the port name prefix
nwc_thrift_port_prefix	-	string	-	""	No	a prefix for the nwc thrift rpc port name
nws_thrift_port_prefix	-	string	-	""	No	a prefix for the nws thrift rpc port name
input_streaming_port_prefix	-	string	-	-	No	a prefix for the input streaming port name (if the port is enabled)
output_streaming_port_prefix	-	string	-	-	No	a prefix for the output streaming port name (if the port is enabled)
streaming_enabled	-	bool	-	false	No	if enabled, tfs are received from the streaming port instead of using RPCs

Port names examples

Here follow some examples of port names obtained with different parameters configurations

1. With
   • default-client = true
   • nwc_thrift_port_prefix = ""
     The frameTransformGet_nwc_yarp thrift port name will be: /frameTransformClient/frameTransformGet_nwc_yarp/thrift
2. With
   • default-client = true
   • nwc_thrift_port_prefix = "/cer"
     The frameTransformGet_nwc_yarp thrift port name will be: /cer/frameTransformClient/frameTransformGet_nwc_yarp/thrift
3. With
   • default-client = false
   • nwc_thrift_port_prefix = "/cer"
     The frameTransformGet_nwc_yarp thrift port name will be: /cer/frameTransformGet_nwc_yarp/thrift
4. With
   • default-server = true
   • nws_thrift_port_prefix = ""
     The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /frameTransformServer/frameTransformGet_nws_yarp/thrift
5. With
   • default-server = true
   • nws_thrift_port_prefix = "/cer"
     The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/thrift
6. With
   • default-server = false
   • nws_thrift_port_prefix = "/cer"
     The name of the thrift port the frameTransformGet_nwc_yarp thrift port will connect to will be: /cer/thrift
7. With
   • default-client = true
   • input_streaming_port_prefix = ""
     The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /frameTransformClient/frameTransformGet_nwc_yarp/tf:i
8. With
   • default-client = true
   • input_streaming_port_prefix = "/cer"
     The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /cer/frameTransformClient/frameTransformGet_nwc_yarp/tf:i
9. With
   • default-client = false
   • input_streaming_port_prefix = "/cer"
     The name of the frameTransformGet_nwc_yarp input port for the tf stream will be: /cer/frameTransformGet_nwc_yarp/tf:i
10. With
    • default-server = true
    • output_streaming_port_prefix = ""
      The name of the output port for the tf stream the nwc will connect to will be: /frameTransformServer/frameTransformGet_nws_yarp/tf:o
11. With
    • default-server = true
    • output_streaming_port_prefix = "/cer"
      The name of the output port for the tf stream the nwc will connect to will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/tf:o
12. With
    • default-server = false
    • output_streaming_port_prefix = "/cer"
      The name of the output port for the tf stream the nwc will connect to will be: /cer/tf:o

Example of configuration file using .ini format.

device frameTransformGet_nwc_yarp
nwc_thrift_port_prefix /local
nws_thrift_port_prefix /cer

Definition at line 99 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 127 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

transforms

the returned list of frame transforms

Returns

true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 139 of file FrameTransformGet_nwc_yarp.cpp.

open()

bool FrameTransformGet_nwc_yarp::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 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

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

• src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.h
• src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.cpp